Aerial Vehicle Heading Control With Symmetric Coordinate Transformation
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Solution Overview
Problem
Traditional heading control methods for aerial vehicles using Euler angle rotation transformations result in asymmetric control behaviors and limited precision due to asymmetry in coordinate system transformations, making control less intuitive and less accurate.
Innovation Solution
A new heading control method that transforms initial acceleration from a control coordinate system to a body coordinate system using an Euler angle rotation matrix, with specific calculations for X-axis and Y-axis unit vectors to represent the inclination angle symmetrically, allowing for symmetric rotation transformations between the north-east-down and control coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional Euler angle rotation transformation is used to transform coordinate systems, then coordinate system transformation can be achieved, but asymmetric control behaviors occur and precision is limited
Solution Approach 1:
The patent applies asymmetry principle by intentionally introducing a symmetric transformation method to counteract the inherent asymmetry in traditional Euler angle transformations. The symmetric transformation matrix ensures that transformations in different coordinate systems (body frame to navigation frame) follow consistent mathematical rules, eliminating asymmetric control behaviors and improving both precision and intuitiveness of heading control
2Ease of operation
If traditional Euler angle transformation is used, then coordinate system transformation is possible, but control behaviors become asymmetric and non-intuitive
Solution Approach 1:
The patent resolves this contradiction by implementing a symmetric transformation approach that makes control behaviors more intuitive and precise simultaneously. The symmetric transformation matrix ensures consistent transformation rules across different coordinate systems, making the control system more intuitive while improving heading control precision
3Adaptability or versatility
If Euler angle rotation matrix is used for transformation, then coordinate system transformation can be performed, but the transformation is asymmetric
Solution Approach 1:
The patent addresses this contradiction by designing a symmetric transformation matrix that maintains consistent transformation rules between different coordinate systems. This symmetric approach preserves the versatility of coordinate system transformation while ensuring stability and symmetry in the transformation process, eliminating the asymmetric behavior inherent in traditional Euler angle methods
Data Source
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AI summary
The present invention relates to a coordinate system transformation method and apparatus, a heading control method for an aerial vehicle, and an aerial vehicle. The coordinate system transformation method includes: respectively obtaining an X-axis unit vector and a Y-axis unit vector of projections of an X-axis and a Y-axis of a body coordinate system on to a level plane of a north-east-down coordinate system, the body coordinate system being a coordinate system with the aerial vehicle as a coordinate origin; calculating a vector sum of the X-axis unit vector kx and the Y-axis unit vector ky; representing an inclination angle by using the vector sum; and performing transformation between the north-east-down coordinate system and a control coordinate system by using the inclination angle. In the transformation method, the inclination angle is represented in a new manner, so that rotation transformation between the north-east-down coordinate system and the control coordinate system is symmetric.