Quaternion all-angle conversion Euler angle acquisition method facing large attitude maneuver

Abstract

The invention belongs to the spacecraft navigation and control field and particularly relates to a quaternion all-angle conversion Euler angle acquisition method facing large attitude maneuver. According to the method, an initial attitude matrix is calculated according to the initial alignment result, and an initial attitude quaternion is acquired; an attitude quaternion at the present time is acquired through update according to strapdown gyroscope output data after pre-processing and an attitude quaternion of a previous time; an attitude matrix of a spacecraft at the present time is calculated according to the attitude quaternion, and three Euler angles of the spacecraft are calculated according to the attitude matrix, namely a yaw angle, a roll angle and a pitch angle; an attitude quaternion of the next time is calculated, Euler angles of the spacecraft at the next time are calculated according to the attitude quaternion of the next time. The method is advantaged in that all-angle conversion is realized, switching among different conversion algorithms is not required, calculation of the quaternion conversion Euler angles is simplified, and the calculation time is further saved.

Description

technical field [0001] The invention belongs to the field of navigation and control of space vehicles, and in particular relates to a method for acquiring Euler angles of quaternion full-angle domain conversion for large-attitude maneuvers. Background technique [0002] The development of modern military technology and the needs of national defense construction put forward higher and higher requirements for the accuracy of aircraft navigation and control. Usually, the attitude control of the aircraft is the premise of its orbit control, and the description of its attitude is the basis of its attitude control. The accuracy and speed of aircraft attitude determination are the key steps of its navigation and attitude control. Therefore, how to determine the attitude of the aircraft more effectively and quickly is of great significance. Commonly used attitude description parameters include direction cosine matrix, Euler angle, attitude quaternion, rotation vector, Rodrigue para...

AI Technical Summary

Problems solved by technology

However, a quaternion usually has 1 or 2 Euler angles corresponding to it, and there is not a one-to-one correspondence between them. Therefore, the conversion between quaternions and Euler angles is difficult

[0006] Through the search, it is found that there is no patent related to "Quaternion Converting Euler Angles" in the current patent database. Among the related documents about "Quaternion Converting Euler Angles" found in the search, Xu Peizhen and Dong Changhong's "Application of Quaternion in Fighter Flight Simulation" expounds the reasons for using quaternion in fighter flight simulation and the geometric meaning of quaternion, and introduces the quaternion according to the coordinate system used in Chinese fighter flight simulation The relationship between the number and the coordinate transformation matrix, the Euler angle represented by the quaternion, and the relationship between the quaternion and the coordinate transformation matrix. It is mentioned that the conventional method can only complete the quaternion conversion Euler angle within ±90° , but the Euler angle representation of large attitude maneuvers cannot be realized

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