倾转机身无人机俯仰角奇异问题研究  

Research on the pitch angle singularity problem of tilting fuselage of UAV

作　　者：路平[1] 肖文健[1] 

机构地区：[1]军械工程学院无人机工程系,河北石家庄050003

出　　处：《飞行力学》2013年第5期429-432,共4页Flight Dynamics

摘　　要：针对传统四元数向欧拉角转换公式的奇异性,分析了尾坐式垂直起降无人机在倾转机身时俯仰角奇异的问题,提出一种新的四元数向欧拉角转换方法。将双欧法与四元数法相结合,利用正欧拉角与反欧拉角奇异倒挂的特点,克服了传统四元数向欧拉角转换时俯仰角出现的奇异性。仿真结果表明,该方法实现了俯仰角在全角度范围的变化,有效地解决了尾坐式垂直起降无人机在倾转机身时俯仰角奇异的问题。For the singularity problem of transformation between quaternion and Euler, the pitch angle is singular when the vertical takeoff and landing （VTOL） UAV tilts the fuselage. A new transformation way between quaternion and Euler was proposed. This method utilized the inverse relationship between the or- dinary and the reversed Euler equations and solved the singularity problem successfully. Simulation re- suits show that this method could calculate the pitch angle in the full-scale and effectively solve the singu- larity problem when the VTOL UAV tilts the fuselage.

关 键 词：倾转机身 四元数 双欧法 奇异性 全角度 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]