Hartley Approximate Output Method of Euler Angle Based on Angular Velocity
An output method, Euler angle technology, applied in the field of Euler angle Hartley approximate output based on angular velocity, can solve the problem of poor output accuracy of Euler angle
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[0068] 1. (a) According to the rigid body attitude equation (Euler equation):
[0069]
[0070] In the formula: 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 expansion expressions of the roll, pitch, and yaw angular velocities p, q, and r are respectively
[0071] p(t)=[p -n L p -1 p 0 p 1 L p n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T
[0072] q(t)=[q -n Q -1 q 0 q 1 Q n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T
[0073] r(t)=[r -n L r -1 r 0 r 1 L r n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T
[0074] where: ξ i (t)=cas(iωt)=cos(iωt)+sin(iωt), (i=-n, -n+1, L, -1, 0, 1, 2, L, n), defi...
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