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Any eulerian angle step length orthogonal series approximation output method based on angular speed

A technology of orthogonal series and output method, which is applied in the direction of integrated navigator, etc., and can solve the problem of poor output accuracy of Euler angles

Inactive Publication Date: 2012-06-13
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] In order to overcome the problem of poor output accuracy of Euler angles during the maneuvering flight of the existing aircraft, the present invention provides an approximate output method of Euler angles with arbitrary step size orthogonal series based on angular velocity

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  • Any eulerian angle step length orthogonal series approximation output method based on angular speed
  • Any eulerian angle step length orthogonal series approximation output method based on angular speed
  • Any eulerian angle step length orthogonal series approximation output method based on angular speed

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Embodiment Construction

[0054] 1. (a) According to the rigid body attitude equation (Euler equation):

[0055]

[0056] in: They refer to the roll, pitch, and yaw angles respectively; p, q, and r are the roll, pitch, and yaw angular velocities respectively; the definitions of the parameters throughout the text are the same; the calculation of these three Euler angles is to solve the pitch angle, roll angle, and yaw angle in sequence The steps of the flight angle are carried out; the n-order expansions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0057] p(t)=[p 0 p 1 L p n-1 p n ][ξ 0 (t) ξ 1 (t) L ξ n-1 (t) ξ n (t)] T

[0058] q(t)=[q 0 q 1 Q n-1 q n ][ξ 0 (t) ξ 1 (t) L ξ n-1 (t) ξ n (t)] T

[0059] r(t)=[r 0 r 1 L r n-1 r n ][ξ 0 (t) ξ 1 (t) L ξ n-1 (t) ξ n (t)] T

[0060] in

[0061] ξ 0 ( ...

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Abstract

The invention discloses a eulerian angle any step length orthogonal series approximation output method based on an angular speed, which is used for solving the technical problem that the eulerian angle output precision is poor when the existing aircraft maneuvers. The technical scheme is as follows: a plurality of parameters are introduced, the tumbling, the pitching and the jaw rate are developed and approximated by adopting the improved recurrence mode similar to Chebyshev orthogonal polynomial, according to the pitching angle, the tumbling angle and the yaw angle, the high-order approximate integration is conducted on the eulerian angle expression directly, the solution of the eulerian angle linear approximated linearly according to superlinearity, and the determination of the time update iterative computation accuracy of the eulerian angle can be ensured, so that the accuracy of the flight attitude output by inertia equipment can be improved.

Description

technical field [0001] The invention relates to a method for determining the maneuvering flight attitude of an aircraft, in particular to an approximate output method of an Euler angle with an arbitrary step-length orthogonal series based on an angular velocity. Background technique [0002] Inertial equipment plays an important role in the navigation and control of moving bodies; the acceleration, angular velocity and attitude of rigid body motion usually depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance; in inertial equipment, the acceleration adopts The accelerometer and angular velocity are directly measured by the angular rate gyro. When the attitude accuracy of the rigid body is very high, such as the flight test, the attitude gyro is used for measurement. However, in many application fields, the angular velocity and other measurements are directly calculated and output; the main reason is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/24
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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