Angular velocity based Euler angle Laguerre exponent approximate output method

An output method and angular velocity technology, applied in directions such as combined navigators, can solve problems such as poor Euler angle output accuracy, and achieve the effect of ensuring time update iterative calculation accuracy

Inactive Publication Date: 2012-06-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • 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 an approximate output method of Euler angles Laguerre exponent based on angular velocity

Method used

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  • Angular velocity based Euler angle Laguerre exponent approximate output method
  • Angular velocity based Euler angle Laguerre exponent approximate output method
  • Angular velocity based Euler angle Laguerre exponent approximate output method

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Experimental program
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Embodiment Construction

[0041] 1. (a) According to the rigid body attitude equation (Euler equation):

[0042]

[0043] In the formula: Ψ refers to the roll, pitch, and yaw angles respectively; 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, The steps of the yaw angle are carried out; the expansion expressions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0044] p(t)=pξ, q(t)=qξ, r(t)=rξ

[0045] in

[0046] p=[p 0 p 1 L p n-1 p n ]q=[q 0 q 1 Q n-1 q n ]

[0047] r = [r 0 r 1 L r n-1 r n ] ξ = [ξ 0 (t)ξ 1 (t)L ξ n-1 (t)ξ n (t)] T

[0048] ξ 0 ( t ) = ...

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Abstract

The invention discloses an angular velocity based Euler angle Laguerre exponent approximate output method, which is used for solving the technical problems that the Euler angle output precision is poor when the traditional aircraft maneuvers. The technical scheme is as follows: roll, pitch, and yaw rates p, q, r expand according to Laguerre orthogonal polynomials by introducing a plurality of parameters; by sequentially solving a pitch angle, a roll angle and a yaw angle, the high-order approximation integral of the expression of an Euler angle is directly conducted, so that the solution of the Euler angle is in accordance with ultra-linear approximation, and the determination of time updating iterative calculation accuracy of the Euler angle is ensured, and thus the accuracy of the output of a flight attitude of 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 approximate output method of the Euler angle Laguerre exponent based on angular velocity. 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 ...

Claims

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Application Information

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IPC IPC(8): G01C21/24
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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