Quaternion Hartley approximate output method based on angular velocities for aircraft during extreme flight

An output method and quaternion technology, which can be used in complex mathematical operations and other directions, and can solve problems such as poor quaternion precision

Inactive Publication Date: 2015-03-25
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of poor accuracy of the output quaternion of the inertial equipment during the extreme flight of the existing aircraft, the present invention provides a Hartley approximate output method of the quaternion based on the angular velocity of the aircraft during the extreme flight

Method used

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  • Quaternion Hartley approximate output method based on angular velocities for aircraft during extreme flight
  • Quaternion Hartley approximate output method based on angular velocities for aircraft during extreme flight
  • Quaternion Hartley approximate output method based on angular velocities for aircraft during extreme flight

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Embodiment Construction

[0036] According to the quaternion continuous state equation

[0037] e · = A e e

[0038] and the discrete equation of state

[0039] e(k+1)=Φ e [(k+1)T, kT]e(k)

[0040] In the formula, e=[e 1 , e 2 , e 3 , e 4 ] T A e = 1 2 0 - p - q - r p 0 r - q q - r 0 ...

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Abstract

The invention discloses a quaternion Hartley approximate output method based on angular velocities for an aircraft during extreme flight, which is used for solving the technical problem of poor precision of quaternion outputted by existing inertial equipment when an aircraft is in extreme flight. The technical scheme includes that approximate description for a rolling angular velocity p, a pitching angular velocity q and a yawing angular velocity r is realized by the aid of a Hartley polynomial, a quaternion state transition matrix second-order approximant is directly obtained, a quaternion state transition matrix is also directly obtained, iterative computation precision of specified quaternion is guaranteed, and accordingly output precision of inertial equipment is improved when the aircraft is in extreme flight.

Description

technical field [0001] The invention relates to an attitude output method of an airborne inertial device of an aircraft, in particular to a quaternion Hartley approximation output method based on an angular velocity when the aircraft is in flight at its limit. Background technique [0002] Usually, the acceleration, angular velocity, and attitude of rigid body motion depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance. Space motions such as aircraft, torpedoes, and spacecraft use differential equations of rigid body motion in most cases; and the differential equations describing the attitude of rigid bodies are the core of them, usually with three Euler angles, namely pitch, roll and yaw angles To describe, usually the pitch, roll and yaw angular velocities in the airborne inertial equipment are calculated and output. When the pitch angle of the rigid body is ±90°, the roll angle and yaw angle c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/16
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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