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Angular velocity-based Euler angle Fourier approximate output method

An output method and angular velocity technology, applied in the direction of navigation through velocity/acceleration measurement, navigation calculation tools, etc., can solve problems such as poor Euler angle output accuracy

Inactive Publication Date: 2012-06-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the problem of poor output accuracy of Euler angles during the maneuvering flight of existing aircraft, the present invention provides a Fourier approximation output method for Euler angles based on angular velocity

Method used

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  • Angular velocity-based Euler angle Fourier approximate output method
  • Angular velocity-based Euler angle Fourier approximate output method
  • Angular velocity-based Euler angle Fourier approximate output method

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Embodiment Construction

[0068] 1. (a) According to the rigid body attitude equation (Euler equation):

[0069]

[0070] In the formula, ψ refers to the roll, pitch, and yaw angles; p, q, and r are the roll, pitch, and yaw angular velocities respectively; the definitions of the parameters throughout the text are the same; the calculation of these three Euler angles is to solve the pitch angle, roll angle, and The steps of the yaw angle are carried out; the n-order expansions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0071] p(t)=p A [1 cos(ωt) L cos[(n-1)ωt] cos(nωt)] T

[0072] +p B [sin(ωt) sin(2ωt) L sin[(n-1)ωt] sin(nωt)] T

[0073] q(t)=q A [1 cos(ωt) L cos[(n-1)ωt] cos(nωt)] T

[0074] +q B [sin(ωt) sin(2ωt) L sin[(n-1)ωt] sin(nωt)] T

[0075] r(t)=r A [cos(ωt) cos(2ωt) L cos[(n-1)ωt] cos(nωt)] T

[0076] + r B [sin(ωt) sin(2ωt) L sin[(n-1)ωt] sin(nωt)] T

[0077] where ω is the angular frequency,

[0078] p A =[p a0 p a1 L p a(n-...

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Abstract

The invention discloses an angular velocity-based Euler angle Fourier approximate output method, which is used for solving the technical problem of low Euler angle output accuracy when the conventional aircraft performs maneuver flight. According to the technical scheme, a plurality of parameters are introduced, Fourier series is adopted for approximate description of the rolling, pitch and yaw rates p, q and r, the rolling, pitch and yaw rates p, q and r are solved in turn according to the order of the Fourier series description of the rolling, pitch and yaw rates p, q and r, and an expression formula of a Euler angle is directly subjected to high-order approximation integral, so that the solution of the Euler angle approximates according to superlinearity, the iterative calculation accuracy of determining the time update of the Euler angle is ensured, and the accuracy of outputting a flight attitude by inertial equipment is improved.

Description

technical field [0001] The invention relates to a method for determining the maneuvering flight attitude of an aircraft, in particular to an angular velocity-based Euler angle Fourier approximation output method. Background technique [0002] Inertial equipment plays an important role in the navigation and control of moving bodies; the acceleration, angular velocity and attitude of rigid body motion usually depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance; in inertial equipment, the acceleration adopts The accelerometer and angular velocity are directly measured by the angular rate gyro. When the attitude accuracy of the rigid body is very high, such as the flight test, the attitude gyro is used for measurement. However, in many application fields, the angular velocity and other measurements are directly calculated and output; the main reason is that the dynamic attitude The sensor is expensiv...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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