An Attitude Control Method for Full-attitude Inertial Navigation of Orbit-changing Maneuvering Aircraft

Abstract

The invention discloses an attitude control method for a full-attitude inertial navigation of an orbit-changing maneuvering aircraft, which uses a coordinate transformation matrix to calculate the attitude angle and a Krylov angle rate integral to calculate the attitude angle for different angle intervals when the aircraft performs a full-attitude angle movement. etc., and solve the three attitude angles describing the relative navigation system of the body. The three attitude angles provided by the present invention are not limited by quadrants, and can realize full attitude description, realizing the real description of the full attitude of strapdown inertial system for the first time, and the algorithm is simple and the engineering realization is convenient.

Description

Attitude control method for full-attitude inertial navigation of orbit-changing maneuvering aircraft technical field The present invention relates to a kind of attitude control method of the full attitude inertial navigation of the orbit-changing motorized aircraft, especially relate to based on four The full-attitude calculation method of the strapdown inertial system based on arity calculation day field. Background technique Inertial navigation is widely used in the fields of missiles, aircraft, ships and weapons, and its main function is to determine the phase of the carrier in real time. Position, velocity, and attitude information for the navigation system. The strapdown inertial system is directly fixed to the carrier, and the angular velocity is measured by the gyroscope degrees and give the values ​​of the three attitude angles after the mathematical solution. However, when the aircraft is flying at full attitude in space, especially when the When the ele...

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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.

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

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