CN106096091B - A kind of airplane motion analogy method - Google Patents
A kind of airplane motion analogy method Download PDFInfo
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Abstract
The invention discloses a kind of airplane motion analogy methods comprising the steps of: S1 inputs the original state parameter of aircraft；S2 inputs aircraft current state parameter；S3 calculates the derivative of ground shafting kinematic parameter；S4, using the original state parameter in the step S1 as initial value for integral；Using the derivative in the step S3 as integration rate, it is integrated, solves current four element value of aircraft, aircraft body shafting current angular velocity, aircraft current location, the aircraft ground current yaw angle relative to ground shafting speed of the current angle of attack, aircraft of shafting present speed, aircraft relative to ground shafting speed；S5 calculates aircraft true empty-running speed, the practical angle of attack and practical yaw angle；S6 send the aircraft true empty-running speed, the practical angle of attack, practical yaw angle to aerodynamics evaluation module, accurate to simulate aerodynamic and aerodynamic torque suffered by aircraft.The present invention has the advantages that realize that atmospheric perturbation to the fine analog of aircraft flight Parameters variation process, keeps airplane motion response more true to nature.
Description
Technical field
The present invention relates to airplane design technical fields, and in particular to a kind of airplane motion analogy method.
Background technique
In field of airplane design and flight simulation field, it usually needs influence of the assessment atmospheric perturbation to airplane motion, especially
It is the atmospheric perturbation that turbulent flow and wind shear etc. frequently encounter in practical flight, carries out atmospheric perturbation in flight simulation environment
Journey simulation is essential function in Project R&D and pilot training.For example, aircraft is needed into experience wind shear of nearly stage
The progressive formation of fine analog aircraft angle of attack and yaw angle, so that airplane aerodynamic is suitable with movement such as actual airplane.Currently, big
Gas disturbance is usually directly injected into airplane motion equation in the form of three axis wind speed component of terrestrial coordinate system, has been directly changed and has been flown
Machine ground velocity increment, has ignored the dynamic process of ground velocity consecutive variations in live flying, reduces people in the fidelity of loop test,
Affect the confidence level of control law and flight quality assessment result.
Summary of the invention
The object of the present invention is to provide a kind of airplane motion analogy methods, are deposited with solving or at least mitigating in background technique
At least one at the problem of.
The technical solution adopted by the present invention is that: a kind of airplane motion analogy method is provided comprising the steps of:
S1, inputs the original state parameter of aircraft, and the original state parameter includes the initial Eulerian angles of aircraft, aircraft body
Shafting initial angular velocity, aircraft initial position, aircraft the ground initial angle of attack of shafting initial velocity, aircraft relative to ground shafting speed
Initial side-slip angle with aircraft relative to ground shafting speed；
S2, inputs aircraft current state parameter, and the aircraft current state parameter includes the body axis of bonding force suffered by aircraft
It is three axis component of body shafting of three axis components and bonding force square；Aircraft gross mass, the moment of inertia of each axis of body shafting of being diversion and used
Property product；Three axis components of the wind speed of current aircraft local environment in ground shafting；
S3 calculates the derivative of ground shafting kinematic parameter, calculates the revised four elements current value of aircraft,
q1=q1/norm
q2=q2/norm
q3=q3/norm
q4=q4/norm
In formula, norm is the modulus value of current four element, the q on the equation left side1、q2、q3And q4It is current for revised four element
Value；
Current direction cosine matrix is calculated according to revised four elements current value；It is calculated according to the direction cosine matrix
Aircraft three axis components of the shafting present speed in ground shafting, the component be also the derivative of aircraft current location；It calculates and flies
Machine shafting present speed derivative；Derivative of the aircraft relative to the current angle of attack of ground shafting speed；Aircraft is relative to ground shafting speed
Spend the derivative of current yaw angle；The derivative of aircraft body shafting current angular velocity is calculated, the current angular velocity includes current rolling
Angular speed, rate of pitch and yaw rate；Calculate the derivative of four elements；
The initial Eulerian angles of aircraft in the step S1 are converted to four element initial values by S4, and in addition to initial Eulerian angles
Other original state parameters are used as initial value for integral together；By the derivative of four elements, aircraft body shafting roll angle in the step S3
The derivative of speed, the derivative of rate of pitch, the derivative of yaw rate, the derivative of aircraft current location, aircraft shafting work as
Derivative, the aircraft of preceding speed currently break away relative to the derivative and aircraft of the current angle of attack of ground shafting speed relative to ground shafting speed
The derivative at angle is integrated as integration rate, solves current four element value of aircraft, aircraft body shafting current angular velocity, aircraft
Current location, aircraft shafting present speed, aircraft relative to the current angle of attack of ground shafting speed, aircraft relative to ground shafting speed
The current yaw angle of degree；
S5, calculate aircraft airspeed ground shafting three axis components, according to the aircraft airspeed ground shafting three axis components
Aircraft airspeed is calculated in three axis components of body shafting, aircraft reality is calculated in three axis components of body shafting according to the aircraft airspeed
Air speed, the practical angle of attack and practical yaw angle；
S6 send the aircraft true empty-running speed, the practical angle of attack, practical yaw angle to aerodynamics evaluation module, accurate to simulate
Aerodynamic and aerodynamic torque suffered by aircraft.
Preferably, the initial Eulerian angles of aircraft being converted into four element initial values in the step S4, specific conversion method is,
q10=cos (θ0/2)cos(φ0/2)cos(ψ0/2)+sin(θ0/2)sin(φ0/2)sin(ψ0/2)
q20=cos (θ0/2)sin(φ0/2)cos(ψ0/2)-sin(θ0/2)cos(φ0/2)sin(ψ0/2)
q30=sin (θ0/2)cos(φ0/2)cos(ψ0/2)+cos(θ0/2)sin(φ0/2)sin(ψ0/2)
q40=cos (θ0/2)cos(φ0/2)sin(ψ0/2)-sin(θ0/2)sin(φ0/2)cos(ψ0/2)
In formula, q10、q20、q30And q40For four element initial values, φ0For roll angle, θ0For pitch angle, ψ0For course angle.
Preferably, in the step S3,
The specific algorithm of current direction cosine matrix is,
Ay=2 (q2q3-q1q4)
Az=2 (q2q4+q1q3)
Bx=2 (q2q3+q1q4)
Bz=2 (q3q4-q1q2)
Dx=2 (q2q4-q1q3)
Dy=2 (q3q4+q1q2)
In formula, q1、q2、q3And q4For revised four elements current value；
Aircraft three axis component specific algorithms of the shafting present speed in ground shafting be,
In formula, Vxg、VygAnd VzgFor aircraft three axis components of the shafting speed in ground shafting, for aircraft shafting is current by V
Speed, α are the current angle of attack of the aircraft relative to ground shafting speed, and β is current yaw angle of the aircraft relative to ground shafting speed；
Aircraft shafting present speed derivative specifically,
Aircraft relative to the current angle of attack of ground shafting speed derivative specifically,
Aircraft relative to the current yaw angle of ground shafting speed derivative specifically,
P is the current angular velocity in roll of aircraft body shafting, q is rate of pitch, and r is yaw rate, and g is aircraft present bit
The gravity acceleration value set, Fxt、Fyt、FztFor three axis component of body shafting of the current suffered bonding force of aircraft；
The derivative of aircraft body shafting current angular velocity specifically,
B1=L+ (Iy-Iz)qr+Izxpq
B2=M+ (Iz-Ix)rp-Izx(p2-r2)
B3=N+ (Ix-Iy)pq-Izxqr
For the current angular velocity in roll of aircraft body shafting derivative,For the derivative of rate of pitch,For yaw rate
Derivative, B1、B2、B3For intermediate variable, L, M, N are respectively three axis component of body shafting of the current suffered bonding force square of aircraft, Ix、
Iy、Iz、IzxThe moment of inertia for body shafting x-axis, y-axis and z-axis of being respectively diversion, IzxFor the inertia of be diversion body shafting z-axis and y-axis
Product；
The derivative of four elements is,
Preferably, aircraft airspeed in three axis component specific algorithms of ground shafting is in the step S5,
In formula, Vx、Vy、VzRespectively three axis components of the aircraft airspeed in ground shafting, Vxg、Vyg、VzgRespectively aircraft
Three axis components of the speed in ground shafting, Wxg、Wyg、WzgRespectively three axis components of the wind speed of aircraft local environment in ground shafting；
Aircraft airspeed is in three axis components of body shafting,
In formula, Vxt、Vyt、VztRespectively three axis components of the aircraft airspeed in body shafting；
The specific algorithm of aircraft airspeed, the elevation angle and yaw angle is,
αV=arctan (Vzt/Vxt)
βV=arcsin (Vyt/VV)
In formula, VVFor aircraft airspeed, αVFor aircraft angle of attack, βVFor aircraft yaw angle.
The beneficial effects of the present invention are:
Atmospheric perturbation may be implemented to flight parameters such as aircraft angle of attack, yaw angle, true air speed and ground velocity in method of the invention
The fine analog of change procedure keeps airplane motion response more true to nature.
Use the algorithm improvement full digital trigger technique platform, engineering simulator, synthesis " iron bird " testing stand and flight training mould
Airplane motion algorithm in the flight simulations such as quasi- device, can be improved Design of Flight Control, test and the accuracy of training and
Validity increases people in the confidence level of loop test assessment result.
Detailed description of the invention
Fig. 1 is the flow chart of the airplane motion analogy method of one embodiment of the invention.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
The limitation of range.
The effect of the innovatory algorithm for ease of description establishes a set of airplane motion simulated program.Setting emulation was at 0 second
Starting, introduces ground shafting north orientation step wind at 0.2 second, step terminates at 0.4 second, and 0.6 second when introduces ground shafting east orientation step wind,
Step terminates at 0.8 second, and emulation terminates at 1 second.Wherein, step monsoon intensity is 5m/s.
As shown in Figure 1, the airplane motion analogy method in the present embodiment comprising the steps of:
S1, inputs the original state parameter of aircraft, and the original state parameter includes the initial Eulerian angles of aircraft, aircraft body
Shafting initial angular velocity, aircraft initial position, aircraft the ground initial angle of attack of shafting initial velocity, aircraft relative to ground shafting speed
Initial side-slip angle with aircraft relative to ground shafting speed；The initial Eulerian angles of aircraft include aircraft pitch angle, aircraft rolling
Angle and vector angle；The aircraft body shafting initial angular velocity includes the initial angular velocity in roll of aircraft body shafting, flies axis
It is initial pitch angle speed, the initial yaw rate of aircraft body shafting；The aircraft initial position includes the initial north orientation position of aircraft
It sets, the initial east orientation position of aircraft, the initial day of aircraft is to position.
In the present embodiment,
Aircraft pitch angle θ0=2deg；
Aircraft roll angle φ0=0deg；
Vector angle ψ0=45deg；
The initial angular velocity in roll p of aircraft body shafting0=0deg/s；
Aircraft body shafting initial pitch angle speed q0=0deg/s；
The initial yaw rate r of aircraft body shafting0=0deg/s；
The initial north orientation position x of aircraft0=0m；
The initial east orientation position y of aircraft0=0m；
The initial day of aircraft is to position z0=500m；
Aircraft ground shafting initial velocity V0=120m/s；
Initial angle of attack α of the aircraft relative to ground shafting speed0=2deg；
Initial side-slip angle beta of the aircraft relative to ground shafting speed0=0deg.
S2, inputs aircraft current state parameter, and the aircraft current state parameter includes the body axis of bonding force suffered by aircraft
It is three axis component of body shafting of three axis components and bonding force square；Aircraft gross mass, the moment of inertia of each axis of body shafting of being diversion and used
Property product；Three axis components of the wind speed of current aircraft local environment in ground shafting.
In the present embodiment, aircraft current state is inputted, fixed value is set as
Three axis component of body shafting of bonding force suffered by aircraft (be free of gravity) is respectively
Fxt=34.224191441307575；Fyt=0；Fzt=0.024677670778336；
Three axis component of body shafting of bonding force square suffered by aircraft
L=0；M=0；N=0；
Aircraft Quality performance data
MassT=100kg；Ix=100000；Iy=100000；Iy=100000；Izx=-10；
Three axis components of the wind speed of aircraft local environment in ground shafting
Ground shafting north orientation step wind 5m/s at 0.2 second, step terminates at 0.4 second；
Ground shafting east orientation step wind 5m/s at 0.6 second, step terminates at 0.8 second.
S3 calculates the derivative of ground shafting kinematic parameter, calculates the revised four elements current value of aircraft,
q1=q1/norm
q2=q2/norm
q3=q3/norm
q4=q4/norm
In formula, norm is the modulus value of current four element, equation left side q1、q2、q3And q4It is current for revised four element
Value；
Current direction cosine matrix is calculated according to revised four elements current value；It is calculated according to the direction cosine matrix
Aircraft three axis components of the shafting present speed in ground shafting, the component be also the derivative of aircraft current location；It calculates and flies
Machine shafting present speed derivative；Derivative of the aircraft relative to the current angle of attack of ground shafting speed；Aircraft is relative to ground shafting speed
Spend the derivative of current yaw angle；The derivative of aircraft body shafting current angular velocity is calculated, the current angular velocity includes current rolling
Angular speed, rate of pitch and yaw rate；Calculate the derivative of four elements；
The initial Eulerian angles of aircraft in the step S1 are converted to four element initial values by S4, and in addition to initial Eulerian angles
Other original state parameters are used as initial value for integral together；By the derivative of four elements, aircraft body shafting roll angle in the step S3
The derivative of speed, the derivative of rate of pitch, the derivative of yaw rate, the derivative of aircraft current location, aircraft shafting work as
Derivative, the aircraft of preceding speed currently break away relative to the derivative and aircraft of the current angle of attack of ground shafting speed relative to ground shafting speed
The derivative at angle is integrated as integration rate, solves current four element value of aircraft, aircraft body shafting current angular velocity, aircraft
Current location, aircraft shafting present speed, aircraft relative to the current angle of attack of ground shafting speed, aircraft relative to ground shafting speed
The current yaw angle of degree；
S5, calculate aircraft airspeed ground shafting three axis components, according to the aircraft airspeed ground shafting three axis components
Aircraft airspeed is calculated in three axis components of body shafting, aircraft reality is calculated in three axis components of body shafting according to the aircraft airspeed
Air speed, the practical angle of attack and practical yaw angle；
S6 send the aircraft true empty-running speed, the practical angle of attack, practical yaw angle to aerodynamics evaluation module, accurate to simulate
Aerodynamic and aerodynamic torque suffered by aircraft.
In the present embodiment, the initial Eulerian angles of aircraft are converted into four element initial values in the step S4, specific conversion side
Method is,
q10=cos (θ0/2)cos(φ0/2)cos(ψ0/2)+sin(θ0/2)sin(φ0/2)sin(ψ0/2)
q20=cos (θ0/2)sin(φ0/2)cos(ψ0/2)-sin(θ0/2)cos(φ0/2)sin(ψ0/2)
q30=sin (θ0/2)cos(φ0/2)cos(ψ0/2)+cos(θ0/2)sin(φ0/2)sin(ψ0/2)
q40=cos (θ0/2)cos(φ0/2)sin(ψ0/2)-sin(θ0/2)sin(φ0/2)cos(ψ0/2)
In formula, q10、q20、q30And q40For four element initial values, φ0For roll angle, θ0For pitch angle, ψ0For course angle.
In the present embodiment, in the step S3,
The specific algorithm of current direction cosine matrix is,
Ay=2 (q2q3-q1q4)
Az=2 (q2q4+q1q3)
Bx=2 (q2q3+q1q4)
Bz=2 (q3q4-q1q2)
Dx=2 (q2q4-q1q3)
Dy=2 (q3q4+q1q2)
In formula, q1、q2、q3And q4For revised four elements current value；
Aircraft three axis component specific algorithms of the shafting present speed in ground shafting be,
In formula, Vxg、VygAnd VzgFor aircraft three axis components of the shafting speed in ground shafting, for aircraft shafting is current by V
Speed, α are the current angle of attack of the aircraft relative to ground shafting speed, and β is current yaw angle of the aircraft relative to ground shafting speed；
Aircraft shafting present speed derivative specifically,
Aircraft relative to the current angle of attack of ground shafting speed derivative specifically,
Aircraft relative to the current yaw angle of ground shafting speed derivative specifically,
P is the current angular velocity in roll of aircraft body shafting, q is rate of pitch, and r is yaw rate, and g is aircraft present bit
The gravity acceleration value set, Fxt、Fyt、FztFor three axis component of body shafting of the current suffered bonding force of aircraft；
The derivative of aircraft body shafting current angular velocity specifically,
B1=L+ (Iy-Iz)qr+Izxpq
B2=M+ (Iz-Ix)rp-Izx(p2-r2)
B3=N+ (Ix-Iy)pq-Izxqr
For the current angular velocity in roll of aircraft body shafting derivative,For the derivative of rate of pitch,For yaw rate
Derivative, B1、B2、B3For intermediate variable, L, M, N are respectively three axis component of body shafting of the current suffered bonding force square of aircraft, Ix、
Iy、Iz、IzxThe moment of inertia for body shafting x-axis, y-axis and z-axis of being respectively diversion, IzxFor the inertia of be diversion body shafting z-axis and y-axis
Product；
The derivative of four elements is,
In the present embodiment, aircraft airspeed in three axis component specific algorithms of ground shafting is in the step S5,
In formula, Vx、Vy、VzRespectively three axis components of the aircraft airspeed in ground shafting, Vxg、Vyg、VzgRespectively aircraft
Three axis components of the speed in ground shafting, Wxg、Wyg、WzgRespectively three axis components of the wind speed of aircraft local environment in ground shafting；
Aircraft airspeed is in three axis components of body shafting,
In formula, Vxt、Vyt、VztRespectively three axis components of the aircraft airspeed in body shafting；
The specific algorithm of aircraft airspeed, the elevation angle and yaw angle is,
αV=arctan (Vzt/Vxt)
βV=arcsin (Vyt/VV)
In formula, VVFor aircraft airspeed, αVFor aircraft angle of attack, βVFor aircraft yaw angle.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (4)
1. a kind of airplane motion analogy method, which is characterized in that comprise the steps of:
S1, inputs the original state parameter of aircraft, and the original state parameter includes the initial Eulerian angles of aircraft, aircraft body shafting
Initial angular velocity, aircraft initial position, aircraft shafting initial velocity, aircraft relative to ground shafting speed the initial angle of attack and fly
Initial side-slip angle of the machine relative to ground shafting speed；
S2, inputs aircraft current state parameter, and the aircraft current state parameter includes the body shafting three of bonding force suffered by aircraft
Three axis component of body shafting of axis component and bonding force square；The moment of inertia and the product of inertia of aircraft gross mass, each axis of body shafting of being diversion；
Three axis components of the wind speed of current aircraft local environment in ground shafting；
S3 calculates the derivative of ground shafting kinematic parameter, calculates the revised four elements current value of aircraft,
Norm is the modulus value of current four element,
q1=q1/norm
q2=q2/norm
q3=q3/norm
q4=q4/norm
In formula, the q on the equation left side1、q2、q3And q4For revised four elements current value；
Current direction cosine matrix is calculated according to revised four elements current value；Aircraft is calculated according to the direction cosine matrix
Three axis components of the ground shafting present speed in ground shafting, the component are also the derivative of aircraft current location；With calculating aircraft
The derivative of shafting present speed；Derivative of the aircraft relative to the current angle of attack of ground shafting speed；Aircraft is worked as relative to ground shafting speed
The derivative of preceding yaw angle；The derivative of aircraft body shafting current angular velocity is calculated, the current angular velocity includes current roll angle speed
Degree, rate of pitch and yaw rate；Calculate the derivative of four elements；
The initial Eulerian angles of aircraft in the step S1 are converted to four element initial values by S4, with other in addition to initial Eulerian angles
Original state parameter is used as initial value for integral together；By the derivative of four elements, aircraft body shafting angular velocity in roll in the step S3
Derivative, the derivative of rate of pitch, the derivative of yaw rate, the derivative of aircraft current location, aircraft shafting it is currently fast
The derivative of degree, aircraft relative to the current angle of attack of ground shafting speed derivative and aircraft relative to the current yaw angle of ground shafting speed
Derivative is integrated as integration rate, and it is current to solve current four element value of aircraft, aircraft body shafting current angular velocity, aircraft
Position, aircraft shafting present speed, aircraft relative to the current angle of attack of ground shafting speed, aircraft relative to ground shafting speed
Current yaw angle；
S5 calculates aircraft airspeed in three axis components of ground shafting, and three axis components according to the aircraft airspeed in ground shafting calculate
Aircraft airspeed calculates the practical sky of aircraft in three axis components of body shafting according to the aircraft airspeed in three axis components of body shafting
Speed, the practical angle of attack and practical yaw angle；
The aircraft true empty-running speed, the practical angle of attack, practical yaw angle are sent to aerodynamics evaluation module, accurately simulate aircraft by S6
Suffered aerodynamic and aerodynamic torque.
2. airplane motion analogy method as described in claim 1, it is characterised in that: by the initial Euler of aircraft in the step S4
Angle is converted to four element initial values, and specific conversion method is,
q10=cos (θ0/2)cos(φ0/2)cos(ψ0/2)+sin(θ0/2)sin(φ0/2)sin(ψ0/2)
q20=cos (θ0/2)sin(φ0/2)cos(ψ0/2)-sin(θ0/2)cos(φ0/2)sin(ψ0/2)
q30=sin (θ0/2)cos(φ0/2)cos(ψ0/2)+cos(θ0/2)sin(φ0/2)sin(ψ0/2)
q40=cos (θ0/2)cos(φ0/2)sin(ψ0/2)-sin(θ0/2)sin(φ0/2)cos(ψ0/2)
In formula, q10、q20、q30And q40For four element initial values, φ0For roll angle, θ0For pitch angle, ψ0For course angle.
3. airplane motion analogy method as described in claim 1, it is characterised in that: in the step S3,
The specific algorithm of current direction cosine matrix is,
Ay=2 (q2q3-q1q4)
Az=2 (q2q4+q1q3)
Bx=2 (q2q3+q1q4)
Bz=2 (q3q4-q1q2)
Dx=2 (q2q4-q1q3)
Dy=2 (q3q4+q1q2)
In formula, q1、q2、q3And q4For revised four elements current value；
Aircraft three axis component specific algorithms of the shafting present speed in ground shafting be,
In formula, Vxg、VygAnd VzgFor aircraft three axis components of the shafting speed in ground shafting, for aircraft shafting is currently fast by V
Degree, α are the current angle of attack of the aircraft relative to ground shafting speed, and β is current yaw angle of the aircraft relative to ground shafting speed；
Aircraft shafting present speed derivative specifically,
Aircraft relative to the current angle of attack of ground shafting speed derivative specifically,
Aircraft relative to the current yaw angle of ground shafting speed derivative specifically,
P is the current angular velocity in roll of aircraft body shafting, q is rate of pitch, and r is yaw rate, and g is aircraft current location
Gravity acceleration value, Fxt、Fyt、FztFor three axis component of body shafting of the current suffered bonding force of aircraft；
The derivative of aircraft body shafting current angular velocity specifically,
B1=L+ (Iy-Iz)qr+Izxpq
B2=M+ (Iz-Ix)rp-Izx(p2-r2)
B3=N+ (Ix-Iy)pq-Izxqr
For the current angular velocity in roll of aircraft body shafting derivative,For the derivative of rate of pitch,For leading for yaw rate
Number, B1、B2、B3For intermediate variable, L, M, N are respectively three axis component of body shafting of the current suffered bonding force square of aircraft, Ix、Iy、Iz、
IzxThe moment of inertia for body shafting x-axis, y-axis and z-axis of being respectively diversion, IzxFor the product of inertia of be diversion body shafting z-axis and y-axis；
The derivative of four elements is,
4. airplane motion analogy method as described in claim 1, it is characterised in that: aircraft airspeed is in the earth's axis in the step S5
System three axis component specific algorithms be,
In formula, Vx、Vy、VzRespectively three axis components of the aircraft airspeed in ground shafting, Vxg、Vyg、VzgRespectively aircraft ground velocity exists
Three axis components in ground shafting, Wxg、Wyg、WzgRespectively three axis components of the wind speed of aircraft local environment in ground shafting；
Aircraft airspeed is in three axis components of body shafting,
In formula, Vxt、Vyt、VztRespectively three axis components of the aircraft airspeed in body shafting；
The specific algorithm of aircraft airspeed, the elevation angle and yaw angle is,
αV=arctan (Vzt/Vxt)
βV=arcsin (Vyt/VV)
In formula, VVFor aircraft airspeed, αVFor aircraft angle of attack, βVFor aircraft yaw angle.
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