A Calculation Method of Cross-quadrant Attitude Angle Based on Quaternion
A calculation method, quaternion technology, applied in the field of calculation of cross-quadrant attitude angle, can solve the problem of accuracy drop
Active Publication Date: 2018-08-10
BEIJING INST OF ELECTRONICS SYST ENG
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Usually, when solving Euler angles, the range of Euler angles should be limited, and the accuracy will decrease when solving in the range close to the quadrant
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[0070] In order to illustrate the present invention more clearly, the present invention will be further described below in conjunction with preferred embodiments and accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.
[0071] Such as figure 1 As shown, the calculation method of the quaternion-based cross-quadrant attitude angle provided in this embodiment includes the following steps:
[0072] S1: The initial value of the pitch angle, the initial value of the yaw angle and the initial value of the roll angle are respectively calculated from the initial quaternion;
[0073] S2: Calculate and obtain the middle value of the yaw angle and the middle value of the roll angle of the current cycle respectively from the quaternion of the current...
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The invention discloses a calculating method for a cross-quadrant attitude angle based on quaternion. The calculating method comprises the following steps: respectively calculating and acquiring a pitching angle initial value, a yaw angle initial value and a roll angle initial value; respectively calculating and acquiring a yaw angle median value in the current period and a roll angle median value in the current period; determining the counting of the yaw angle; determining the counting of the roll angle; calculating and acquiring a yaw angle final value in the current period; calculating and acquiring a roll angle final value in the current period; calculating and acquiring a decoupling matrix of the yaw angle in the current period; calculating and acquiring the decoupling matrix of the roll angle in the current period; determining a quaternion transition matrix in the current period; calculating and acquiring a pitching angle transition matrix in the current period; calculating and acquiring a quaternion corresponding to the pitching angle in the current period; calculating and acquiring a pitching angle median value in the current period; determining the counting of the pitching angle; and calculating and acquiring a pitching angle final value in the current period. According to the calculating method, decrease in singularity and precision caused by the traditional resolving method in the prior art can be avoided, so that the resolving precision can be ensured.
Description
technical field [0001] The invention relates to the technical field of a calculation method of an attitude angle based on a quaternion. More specifically, it relates to a calculation method of cross-quadrant attitude angle based on quaternion. Background technique [0002] In the prior art, solving Euler angles by quaternion usually involves inverse trigonometric operation. Therefore, the range requirements and singularity problems in the operation of inverse trigonometric functions are unavoidable. Usually, when calculating Euler angles, the range of Euler angles needs to be limited, and the accuracy will decrease when calculating in a range close to the quadrant. [0003] Therefore, it is necessary to provide a calculation method of cross-quadrant attitude angle based on quaternion. Contents of the invention [0004] The purpose of the present invention is to provide a method for calculating the cross-quadrant attitude angle based on quaternion. [0005] To achieve t...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 杨兴光杨凡
Owner BEIJING INST OF ELECTRONICS SYST ENG