论文部分内容阅读
本文讨论了飞机做全姿态角运动时捷联式系统姿态角计算中存在的几个问题:(1)为保证单值地确定飞机在空间的角位置,应恰当地规定姿态角的定义域;(2)由方向余弦矩阵元素求姿态角时要进行反三角函数运算,当反三角函数的自变量的分母或分子趋于零时会引起较大的误差,甚至导致计算机溢出,这些都应设法避免;(3)当俯仰角趋于±90°附近的小锥形区域时,三个姿态角自由度退化为两个自由度,这时姿态角的定义与计算方法应做新的改变。本文分析与解决了上述问题,给出了计算姿态角的程序框图。数学模拟的结果证明了理论分析的正确性。
This paper discusses several problems in the attitude angle calculation of the strapdown system when the aircraft is doing full attitude angular motion: (1) In order to ensure that the aircraft position in space is uniquely identified, the domain of attitude angle should be properly specified; (2) For the inverse trigonometric function to calculate the attitude angle from the direction cosine matrix element, when the denominator or numerator of the inverse trigonometric function tends to zero, it will cause a large error and even cause the computer to overflow. All these should be managed Avoidance; (3) When the pitch angle tends to a small cone near ± 90 °, the three attitude degrees of freedom degenerate into two degrees of freedom. Then the definition and calculation of attitude angle should be changed. In this paper, the above problems are analyzed and solved, and the block diagram of calculating attitude angle is given. The result of mathematical simulation proves the correctness of theoretical analysis.