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固定翼模式水平飞行的坐式垂直起降无人机克服了传统固定翼无人机起降条件要求高的缺点,继承了其总体效率高的优点,拥有巨大的发展潜力和非常广阔的应用前景。坐式垂直起降无人机在起降阶段姿态变化范围大,所使用的姿态传感器在俯仰方向的角度变化超过90°时,根据四元数转换出的欧拉角会出现奇异点,即万向节死锁。从解算算法出发,提出了一种更改旋转顺序的方法,避免奇异点出现。结果表明,此方法可以很好地应用在垂直起降无人机的姿态解算上。
Fixed-wing mode horizontal flying vertical take-off and landing drone overcoming the traditional fixed-wing UAV take-off and landing conditions require high shortcomings, inherited its overall high efficiency advantages, with great potential for development and very broad application prospects . Sit-on vertical take-off and landing UAV during the take-off and landing phase of a wide range of changes in attitude, the attitude sensor used in the pitch angle changes over 90 °, Euler angles converted quaternion Singularities appear, that million Deadlock to the section. Starting from the solution algorithm, a method of changing the rotation order is proposed to avoid the appearance of singular points. The results show that this method can be well applied to the attitude of UAVs.