Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data
Conventional attitude algorithms have been improved for many years, but they still have attitude updating errors due to the coupling in the complicated angular motion of spinning bodies. A real-time angular motion decoupling and attitude updating method assisted by satellite navigation data is propo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8936395/ |
| _version_ | 1818855223460888576 |
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| author | Shuangbiao Zhang Zhong Su Xingcheng Li |
| author_facet | Shuangbiao Zhang Zhong Su Xingcheng Li |
| author_sort | Shuangbiao Zhang |
| collection | DOAJ |
| description | Conventional attitude algorithms have been improved for many years, but they still have attitude updating errors due to the coupling in the complicated angular motion of spinning bodies. A real-time angular motion decoupling and attitude updating method assisted by satellite navigation data is proposed in this paper. A compositive model of angular motion for spinning bodies is built to understand and analyze the trait of angular velocity. A detailed process of angular motion decoupling is addressed with the help of satellite navigation data, including a backward decoupling process and a forward decoupling angular process, to estimate angular velocity to guarantee real-time ability. A real-time attitude updating algorithm is presented in detail for determining the real attitude of spinning bodies, and the updating process of coning attitude based on rotation vector is provided. Simulations are carried out to show the coupling effect of angular motion on the conventional attitude algorithm and verify the validity of the proposed method, and flight data are used to verify the availability of engineering application. Results show that the angular motion is decoupled and attitude accuracy is improved successfully. |
| first_indexed | 2024-12-19T08:05:11Z |
| format | Article |
| id | doaj.art-8d2a16a381d945a4b1fdaed49cc2c749 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T08:05:11Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8d2a16a381d945a4b1fdaed49cc2c7492022-12-21T20:29:45ZengIEEEIEEE Access2169-35362019-01-01718434018435210.1109/ACCESS.2019.29606028936395Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation DataShuangbiao Zhang0https://orcid.org/0000-0002-7256-0184Zhong Su1https://orcid.org/0000-0002-7238-5267Xingcheng Li2https://orcid.org/0000-0002-0803-1990Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, ChinaBeijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing, ChinaConventional attitude algorithms have been improved for many years, but they still have attitude updating errors due to the coupling in the complicated angular motion of spinning bodies. A real-time angular motion decoupling and attitude updating method assisted by satellite navigation data is proposed in this paper. A compositive model of angular motion for spinning bodies is built to understand and analyze the trait of angular velocity. A detailed process of angular motion decoupling is addressed with the help of satellite navigation data, including a backward decoupling process and a forward decoupling angular process, to estimate angular velocity to guarantee real-time ability. A real-time attitude updating algorithm is presented in detail for determining the real attitude of spinning bodies, and the updating process of coning attitude based on rotation vector is provided. Simulations are carried out to show the coupling effect of angular motion on the conventional attitude algorithm and verify the validity of the proposed method, and flight data are used to verify the availability of engineering application. Results show that the angular motion is decoupled and attitude accuracy is improved successfully.https://ieeexplore.ieee.org/document/8936395/Spinning bodiesconing motionangular motion decouplingattitude updatingreal-time |
| spellingShingle | Shuangbiao Zhang Zhong Su Xingcheng Li Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data IEEE Access Spinning bodies coning motion angular motion decoupling attitude updating real-time |
| title | Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data |
| title_full | Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data |
| title_fullStr | Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data |
| title_full_unstemmed | Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data |
| title_short | Real-Time Angular Motion Decoupling and Attitude Updating Method of Spinning Bodies Assisted by Satellite Navigation Data |
| title_sort | real time angular motion decoupling and attitude updating method of spinning bodies assisted by satellite navigation data |
| topic | Spinning bodies coning motion angular motion decoupling attitude updating real-time |
| url | https://ieeexplore.ieee.org/document/8936395/ |
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