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Angular speed-based Hartley index approximate output method for Eulerian angles

A technology of angular velocity and exponent, which is applied in the field of approximate output of Euler angle and Hartley exponent based on angular velocity, which can solve the problem of poor output accuracy of Euler angle

Inactive Publication Date: 2014-07-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • 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 existing aircraft, the present invention provides an approximate output method of Euler angles Hartley exponent based on angular velocity

Method used

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  • Angular speed-based Hartley index approximate output method for Eulerian angles
  • Angular speed-based Hartley index approximate output method for Eulerian angles
  • Angular speed-based Hartley index approximate output method for Eulerian angles

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Embodiment Construction

[0034] 1. (a) According to the rigid body attitude equation (Euler equation):

[0035]

[0036] in: θ, ψ refer to the roll, pitch, and yaw angles respectively; p, q, 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 The steps of rotation angle and yaw angle are carried out; the expansion expressions of roll, pitch and yaw angular speed p, q, r are respectively

[0037] p(t)=pξ, q(t)=qξ, r(t)=rξ

[0038] in

[0039] p=[p 0 p 1 …p n-1 p n ]q=[q 0 q 1 … q n-1 q n ]

[0040] r = [r 0 r 1 ...r n-1 r n ] ξ = [ξ 0 (t) ξ 1 (t) … ξ n-1 (t) ξ n (t)] T

[0041] ξi(t)=cas(iωt)=cos(iωt)+sin(iωt),(i=-n,-n+1,...,-1,0,1,2,...,n);

[0042] (b) The time update solution of the pitch angle is:

[0043]

[0044] In the formula:

[0045] a 1 = ...

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Abstract

The invention discloses an angular speed-based Hartley index approximate output method for Eulerian angles, which is used for solving the technical problem that the output precision of the Eulerian angles is low when a traditional aircraft maneuvers. In the technical scheme disclosed by the invention, approximate descriptions are respectively performed on a rolling angular speed p, a pitching angular speed q and a yawing angular speed r through introducing a plurality of parameters and adopting the polynomial of a Hartley function; high-order approximate integration is directly performed on the expressions of the Eulerian angles through solving a pitching angle, a rolling angle and a yawing angle in sequence, so that the Eulerian angles are solved according to super-linear approximation, thereby, the precision of time update iterative computation for determining the Eulerian angles and the output precision of an inertial unit are ensured.

Description

technical field [0001] The invention relates to a method for determining the maneuvering flight attitude of an aircraft, in particular to a method for approximately outputting Euler angle Hartley exponents 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 Th...

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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