A Calculation Method of Attitude Angle Based on Krylov Angle Singularity Condition

Abstract

The invention relates to an attitude angle calculation method based on the Krylov angle singularity condition, and belongs to the technical field of inertial navigation full attitude calculation; step 1, a gyroscope group is fixedly installed on the aircraft, and the gyroscope group forms a strapdown type Inertial system; step 2, use the Krylov angle rotation method to rotate the navigation coordinate system to coincide with the body coordinate system; measure the rotational angular velocity of the body coordinate system relative to the navigation coordinate system; step 3, calculate 3 Krylo The angular velocity corresponding to the husband angle; Step 4, calculate the transformation matrix from the navigation coordinate system OXYZ to the body coordinate system O'X'Y'Z' Step 5, judge the value of the sum, and calculate the Krylov based on the judgment result Three attitude angles ψ, γ and transformation matrix under the condition of singular angle The present invention firstly provides a method for calculating the full attitude of the strapdown inertial system based on the Krylov angle, and compared with the quaternion, the number of equations is small and the solution The advantage of being simple.

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...

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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

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