Four-ary number polynomial approximate output method during extreme aerobat flight based on angular velocity

Abstract

The invention discloses a four-ary number polynomial approximate output method during extreme aerobat flight based on an angular velocity. In the prior art, the precision of the four-ary number output by the inertia equipment during the extreme aerobat flight is poor. The purpose of the present invention is to solve the technical problem in the prior art. The technical scheme of the present invention is that: a uniform polynomial is adopted to proximately and closely depict a rolling angular velocity p, a pitching angular velocity q, and a yawing angular velocity r to directly obtain a four-ary number state transition matrix, wherein the uniform polynomial can be adopted to depict the arbitrary and limit order; the constant matrix M can be pre-defined according to the requirement of the project precision so as to reduce the order of the polynomial description of the rolling angular velocity p, the pitching angular velocity q, and the yawing angular velocity r, such that the superlinear output of the four-ary number state equation transition matrix phie[(K+1)T, kT] or the approximation of the higher order is achieved, it is ensured that the iterative computation precision of the four-ary number is determined, and the output precision of the inertia equipment during the extreme aerobat flight is improved.

Description

technical field [0001] The invention relates to an attitude output method of an airborne inertial device of an aircraft, in particular to a quaternion polynomial approximate output method based on an angular velocity when the aircraft is in flight. Background technique [0002] Usually, the acceleration, angular velocity, and attitude of rigid body motion depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance. Space motions such as aircraft, torpedoes, and spacecraft use differential equations of rigid body motion in most cases; and the differential equations describing the attitude of rigid bodies are the core of them, usually with three Euler angles, namely pitch, roll and yaw angles To describe, usually the pitch, roll and yaw angular velocities in the airborne inertial equipment are calculated and output. When the pitch angle of the rigid body is ±90°, the roll angle and yaw angle cannot be fix...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of large error in the existing quaternion output, the present invention provides a method for superlinear output of quaternion based on angular velocity when the aircraft is in flight. Angular velocity p, q, r are approximated and described, and the quaternion state transition matrix can be directly obtained, which can ensure the iterative calculation accuracy of the quaternion, thereby improving the quaternion accuracy of the inertial equipment output during the extreme flight of the aircraft

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