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Euler angle Walsh index approximate output method based on angular velocity

A technology of Walsh exponent and output method, applied in directions such as navigation calculation tools, can solve problems such as poor Euler angle output accuracy

Inactive Publication Date: 2012-06-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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  • Application Information

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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 existing aircraft, the present invention provides an approximate output method of Euler angles Walsh exponent based on angular velocity

Method used

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  • Euler angle Walsh index approximate output method based on angular velocity
  • Euler angle Walsh index approximate output method based on angular velocity
  • Euler angle Walsh index approximate output method based on angular velocity

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Embodiment Construction

[0039] 1. (a) According to the rigid body attitude equation (Eulerian equation):

[0040]

[0041] Where: ψ refers to roll, pitch, and yaw angles respectively; p, q, and r are roll, pitch, and yaw angular velocities, respectively; the parameter definitions in the full text are the same; the calculation of these three Euler angles is to solve the pitch angle, roll angle, The steps of yaw angle are carried out; the expansion formulas of roll, pitch, and yaw angular velocity p, q, r are respectively

[0042] p(t)=pξ, q(t)=qξ, r(t)=rξ

[0043] among them

[0044] p=[p 0 p 1 L p n-1 p n ] q=[q 0 q 1 L q n-1 q n ]

[0045] r=[r 0 r 1 L r n-1 r n ] ξ=[ξ 0 (t) ξ 1 (t) L ξ n-1 (t) ξ n (t)] T

[0046] among them, (0≤t≤NT, k=0, 1, 2, L) is a Walsh function; k j It is the binary value of the binary expression of 0 or 1-k, ρ is the number of bits in the binary value, and sgn is the sign function; T is the sampling period, and the full text symbol definition is the same;

[0047] b) The ...

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Abstract

The invention discloses an Euler angle Walsh index approximate output method based on angular velocity, which is used for solving the technical problem of being poor in Euler angle output precision of the current aircraft in the event of carrying out maneuver flight. The technical scheme provided by the invention is as follows: rolling, pitching and off-course angular velocities are expanded according to a Walsh function polynomial by introducing a plurality of parameters; a pitching angle, a rolling angle and an off-course angle are solved in turn; and the expression of an Euler angle is directly subjected to high-order approximation integral, so that solving of the Euler angle is approximated in a super-linear manner. Time update iterative calculation precision of the Euler angle is ensured, so that the accuracy for outputting flight attitudes by inertial equipment is increased.

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 Euler angle Walsh index based on angular velocity. Background technique [0002] Inertial equipment plays an important role in the navigation and control of moving objects; 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, acceleration is used Accelerometers and angular velocities are directly measured by angular rate gyroscopes. When the attitude accuracy of rigid bodies is required to be high, such as flight tests, they are measured by attitude gyros. However, in many application fields, angular velocity and other measurements are used to directly calculate the output; the main reason is due to dynamic attitude. Sensors are expens...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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