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Euler angle polynomial class-index approximate output method on basis of angle velocity

An output method, polynomial technology, applied in the direction of integrated navigator, etc., can solve the problem of poor output accuracy of Euler angles, and achieve the effect of ensuring the accuracy of time update iterative calculation

Inactive Publication Date: 2014-12-31
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 angle polynomial class exponentials based on angular velocity

Method used

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  • Euler angle polynomial class-index approximate output method on basis of angle velocity
  • Euler angle polynomial class-index approximate output method on basis of angle velocity
  • Euler angle polynomial class-index approximate output method on basis of angle velocity

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Embodiment Construction

[0040] 1. (a) According to the rigid body attitude equation (Euler equation):

[0041]

[0042] in: ψ refers to the roll, pitch, and yaw angles; 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 The steps of the yaw angle are carried out; the expansion expressions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0043] p(t)=pMξ, q(t)=qMξ, r(t)=rMξ

[0044] in

[0045] p=[p 0 p 1 L p n-1 p n ]q=[q 0 q 1 Q n-1 q n ]

[0046] r = [r 0 r 1 L r n-1 r n ]ξ=[1 t L t n-1 t n ] T

[0047] M is a constant matrix defined in advance, and T is defined as the sampling period;

[0048] For Chebyshev (Chebyshev) orthogonal polynomials:

[0049] ξ 0 ...

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Abstract

The invention discloses an Euler angle polynomial class-index approximate output method on the basis of angle velocity, which is used for solving the technical problem that output precision of the Euler angles of existing aircrafts during maneuver flight is low. The technical scheme includes: introducing multiple parameters, utilizing the unified polynomial capable of describing any limited numbers to describe the rolling angle velocity p, the pitch angle velocity q and the yaw angle velocity r approximately, defining the constant matrix M in advance according to requirements of engineering precision, reducing the described orders of the polynomial to the rolling angle velocity p, the pitch angle velocity q and the yaw angle velocity r, solving the rolling angle, the pitch angle and the yaw angle sequentially, and performing high-order approximate integration to the expressions of the Euler angles directly so that the solutions of the Euler angles approximate according to the superlinearity. Accordingly, time iterative calculation precision for determining the Euler angles is guaranteed and accuracy of output flight attitude of inertia equipment is 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 based on an angular velocity Euler angle polynomial class index. 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 that the dynamic attitude The...

Claims

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Application Information

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