Attitude angle resolving method based on Krelov angle singular condition

Abstract

The invention relates to an attitude angle calculation method based on a Krelov angle singular condition, and belongs to the technical field of inertial navigation all-attitude calculation. The methodcomprises the steps: 1, fixedly installing a gyroscope set on an aircraft, wherein the gyroscope set forms a strapdown inertial system; 2, rotating a navigation coordinate system to coincide with a body coordinate system by adopting a Kreylov angle rotation method, and carrying out measuring to obtain a rotation angular velocity of the body coordinate system relative to the navigation coordinatesystem; 3, calculating angular velocities corresponding to the three Krelov angles; 4, calculating a transformation matrix Rn from the navigation coordinate system OXYZ to the body coordinate system O'X'Y'Z'; and 5, judging the values of the omega y1 and omega z1, and calculating three attitude angles phi, psi and gamma and the transformation matrix Rn based on the Krelov angle singular condition according to a judgment result. The strapdown inertial system all-attitude calculation method based on the Krelov angle is provided for the first time, and has the advantages of being small in equation number and simple in calculation relative to a quaternion method.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation full attitude calculation, and relates to an attitude angle calculation method based on the Krylov angle singularity condition. Background technique [0002] Inertial navigation is widely used in the fields of missiles, aircraft, ships and weapons. Its main function is to determine the position, velocity and attitude information of the carrier relative to the navigation system in real time. The strapdown inertial system is directly connected to the carrier, and the angular velocity is measured by the gyroscope, and the values ​​of the three attitude angles are given after mathematical calculation. [0003] At present, the methods for determining attitude information include directional cosine kinematic equations, Euler-Krylov angle kinematic equations, and quaternion kinematic equations. The advantage of the direction cosine kinematics equation is that the coordinate transformation ma...

AI Technical Summary

Problems solved by technology

The advantage of the direction cosine kinematics equation is that the coordinate transformation matrix between the moving system and the fixed system can be obtained directly. The disadvantage is that the transformation matrix has 9 parameters and 6 connection formulas. few

[0004] At present, the quaternion kinematics equation is most widely used in engineering. Its advantage is that the number of parameters is only 4, and its disadvantage is that the 4 parameters are only intermediate variables, which need to be solved to give the coordinate transformation matrix and attitude angle.

But it doesn't give what will happen to the attitude angle under singular conditions? And describe whether the coordinate transformation matrix between the moving system and the fixed system has a sudden change? and many more

Images