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Euler angle Walsh index approximate output method based on angular velocity

A technology of Walsh index and output method, which is applied in navigation calculation tools and other directions, and can solve problems such as poor output accuracy of Euler angles

Inactive Publication Date: 2014-02-05
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 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 (Euler equation):

[0040]

[0041] In the formula: 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

[0042] p(t)=pξ, q(t)=qξ, r(t)=rξ

[0043] in

[0044] p=[p 0 p 1 L p n-1 p n ]q=[q 0 q 1 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] in, (0≤t≤NT, k=0, 1, 2, L) is a Walsh function (WalshFunction); k j is the binary value of the binary expression of 0 or 1-k, ρ is the number of digits of the binary value, sgn represents the sign function; T is the sampling...

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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 the Euler angle Walsh exponent based on 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 that the dynamic attitude The sen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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