Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle
Patent
1998-01-06
2000-05-09
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Aeronautical vehicle
701 38, 434 51, 244184, 244 50R, 244194, B64C 1500, G06F 770
Patent
active
060616113
ABSTRACT:
The invention is embodied in a method of integrating kinematics equations for updating a set of vehicle attitude angles of a vehicle using 3-dimensional angular velocities of the vehicle, which includes computing an integrating factor matrix from quantities corresponding to the 3-dimensional angular velocities, computing a total integrated angular rate from the quantities corresponding to a 3-dimensional angular velocities, computing a state transition matrix as a sum of (a) a first complementary function of the total integrated angular rate and (b) the integrating factor matrix multiplied by a second complementary function of the total integrated angular rate, and updating the set of vehicle attitude angles using the state transition matrix. Preferably, the method further includes computing a quanternion vector from the quantities corresponding to the 3-dimensional angular velocities, in which case the updating of the set of vehicle attitude angles using the state transition matrix is carried out by (a) updating the quanternion vector by multiplying the quanternion vector by the state transition matrix to produce an updated quanternion vector and (b) computing an updated set of vehicle attitude angles from the updated quanternion vector. The first and second trigonometric functions are complementary, such as a sine and a cosine. The quantities corresponding to the 3-dimensional angular velocities include respective averages of the 3-dimensional angular velocities over plural time frames. The updating of the quanternion vector preserves the norm of the vector, whereby the updated set of vehicle attitude angles are virtually error-free.
REFERENCES:
patent: 4964599 (1990-10-01), Farineau
patent: 5406489 (1995-04-01), Timothy et al.
patent: 5799901 (1998-09-01), Osder
patent: 5850615 (1998-12-01), Osder
patent: 5886257 (1999-03-01), Gustafson et al.
patent: 5918832 (1999-07-01), Zerweckh
Cuchlinski Jr. William A.
Hernandez Olga
Kusmiss John H.
The United States of America as represented by the Administrator
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