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Attitude control method for all-attitude inertial navigation of orbital transfer maneuvering aircraft

A technology of inertial navigation and attitude control, which is applied in directions such as navigation through speed/acceleration measurement, and can solve the problems that 4 parameters are only intermediate variables, multi-value, and the number of parameters is only 4.

Active Publication Date: 2020-10-16
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.
At this time, there will be the following two problems when using quaternion to solve: (1) multi-valued problem, that is, there is no unique solution when solving the attitude angle by the coordinate transformation matrix; (2) singular value problem

Method used

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  • Attitude control method for all-attitude inertial navigation of orbital transfer maneuvering aircraft
  • Attitude control method for all-attitude inertial navigation of orbital transfer maneuvering aircraft
  • Attitude control method for all-attitude inertial navigation of orbital transfer maneuvering aircraft

Examples

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example 1

[0126] Example 1: When the aircraft is doing a pitch angle (-180°, +180°) roll, set the attitude angle The initial value of ψ and γ is 0°, and the angular velocity of the aircraft When , the transformation process of the three attitude angles in a roll is as follows: image 3 shown. However, the three attitude angles calculated by quaternion are as follows: Figure 4 As shown, it can be seen that the solved attitude angle ψ cannot cross +90° and -90° during the change process, and γ will vary by 180° respectively, which do not coincide with the theoretical values ​​of the flight trajectory. This shows that there are defects and deficiencies in the original quaternion method for calculating the attitude angle. And the three attitude angles that adopt the method solution that the present invention provides are as Figure 5 shown, with image 3 It can be seen that the two are consistent, which illustrates the effectiveness of the technology of the present invention.

example 2

[0127] Example 2: When the aircraft is doing a pitch angle (-180°, +180°) roll, set the attitude angle and the initial value of γ is 0°, the initial value of ψ is 135°, and the angular velocity of the aircraft When , the transformation process of the three attitude angles in a roll is as follows: Image 6 shown. It can be seen that the method proposed by the present invention can effectively cover the whole pose.

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Abstract

The invention discloses an attitude control method for all-attitude inertial navigation of an orbital transfer maneuvering aircraft, and three attitude angles describing a relative navigation system of an aircraft body are solved by respectively adopting a coordinate transformation matrix to solve the attitude angle, Krelov angular rate integration to solve the attitude angle and the like in different angle intervals when the aircraft does all-attitude angular motion. The three attitude angles provided by the invention are not limited by quadrants, all-attitude description can be realized, real description of all attitudes of the strapdown inertial system is realized for the first time, the algorithm is simple, and engineering realization is convenient.

Description

technical field [0001] The invention relates to an attitude control method for full-attitude inertial navigation of an orbit-changing maneuvering aircraft, in particular to a strapdown inertial system full-attitude calculation method based on quaternion calculation, which is mainly used to realize full-attitude high-precision navigation in aviation, aerospace field. 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. However, when the aircraft is flying in full attitude in space, especially when the pitch angle exceeds ±90°, the calculation method of the at...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES