CN102768538A - Method for acquiring moving body bank to turn (BTT) turning control attitude information and device for realizing method - Google Patents

Abstract

The invention discloses a method for acquiring the moving body bank to turn (BTT) turning control attitude information and a device for realizing the method, which belong to the fields of moving body dynamics, control and navigation. A moving body navigates in the water environment at the navigation speed of over 100m/s; and the method for acquiring the moving body BTT turning control attitude information comprises the steps of: firstly, extracting the movement attitude information of the moving body; then, acquiring the moving body BTT turning control attitude information, through decoupling and classifying the moving body BTT turning control attitude information, decomposing the BTT control information into the rolling channel attitude information and the pitching-yawing channel attitude information; and respectively estimating the hydrodynamic coefficients in the rolling channel attitude information and the pitching-yawing channel attitude information, and obtaining the complete moving body BTT turning control attitude information. The method can be used for enabling the moving body to stably turn at the navigation speed of over 100m/s in the water navigation environment, so an air curtain which wraps the moving body is kept stable.

Description

Movable body BTT turns and controls the acquisition methods and the implement device thereof of attitude information

Technical field

The present invention relates to the turn acquisition methods of control attitude information of movable body BTT, be specially adapted to navigate by water the turning control of the high-speed motion body in the environment under water, belong to movable body dynamics and control, navigation field.

Background technology

At present, mainly be that scholars have proposed the method for designing of various controllers, have obtained some achievements to lengthwise movement to navigating by water the research of the movable body control problem in the environment under water.For the control problem of the sideway movement of the type movable body, with reference to the sideway movement control of aircraft and the control of turning, mainly contain two kinds of strategies, be respectively traditional side-slipping turn (STT) control technology and banked turn (BTT) control technology.

Most of in the world aircraft all adopt STT turning control technology; This control technology is in the flight course of aircraft; Keep the movable body longitudinal axis relatively stable; Controlling aircraft produces respective normal force in two planes of pitching and driftage, its synthetic normal force is pointed to the desired direction of guiding rate.The acceleration magnitude of STT aircraft and the variation of direction are that the coordination through the angle of attack and yaw angle changes and accomplishes; The existence of yaw angle makes aircraft produce sideway movement, and sideway movement causes the unsettled factor of air curtain beyond doubt for the movable body that the air curtain parcel is arranged; In its steady steaming; If the generation sideway movement, the necessary stability that guarantees air curtain, this has increased the control difficulty undoubtedly.

BTT turning control technology is at first handled roll channel and is made the aircraft high speed rotating in the process of turning, and the mainpiston with aircraft aims at the mark as early as possible; Pitch channel aircraft rotation simultaneously realizes steering instruction rapidly at mainpiston, the pursuit attack target; And in rolling and pitch channel motion, the motion of control jaw channel makes the yaw angle of aircraft and side direction overload as far as possible little, and desirable BTT aircraft is less than breakking away.This point of not breakking away is significant to the stability of air curtain.

Summary of the invention

The present invention has introduced a kind of acquisition methods of movable body BTT turning control attitude information, and this method is that the design of movable body BTT turning robot pilot provides the prerequisite guarantee.Movable body described in the present invention navigates by water environment under water, and therefore headway is a kind of novel movable body greater than 100m/s, and during navigation, the movable body surface is by one deck air curtain parcel, and movable body is the equal of in gas, to navigate by water.Because the frictional resistance that in air, navigates by water of movable body is much smaller than the frictional resistance of movable body in water, thereby the headway of movable body is increased substantially.Yet, because the parcel of air curtain makes the force way of movable body and dynamics with conventional underwater moving body significant difference arranged, to the very big challenge of having researched and proposed of the research of this movable body dynamics and control problem.

The present invention provides a kind of movable body BTT to turn and has controlled the acquisition methods of attitude information in order to solve the problem that exists in the prior art, and concrete steps are following:

The first step, the extraction of movable body athletic posture information; Described movable body attitude information comprises movable body displacement, speed, angular pose, angular velocity information.

Second step, obtain movable body BTT turning control attitude information, comprising: the angle of attack, yaw angle, axial acceleration, normal g-load, angular velocity, angular acceleration information.

Particular content is: the BTT turning control attitude information to movable body carries out decoupling zero, classification, and the BTT control information is decomposed into roll channel attitude information and pitching-jaw channel attitude information the most at last; Respectively the hydrodynamic force coefficient in roll channel attitude information and the pitching-jaw channel attitude information is estimated, obtained complete movable body BTT turning control attitude information.

Described hydrodynamic force coefficient comprises position derivative, rotary derivative, fin rudder derivative.

The invention has the advantages that: the BTT of the complete movable body that obtains according to the acquisition methods provided by the invention control attitude information of turning is controlled movable body; Can guarantee under water in the running environment; Headway makes the air curtain of parcel movable body keep stable greater than the steady turn of the movable body of 100m/s.

Description of drawings

Fig. 1 is the acquisition methods process flow diagram of movable body BTT turning control attitude information provided by the invention;

Fig. 2 is a movable body body coordinate system synoptic diagram among the present invention.

Embodiment

Below in conjunction with accompanying drawing the present invention is elaborated.

The acquisition methods of movable body BTT turning control attitude information provided by the invention in the specific implementation; Set up movable body six-degree-of-freedom dynamics model according to movable body coordinate system and the newtonian motion equation set up earlier, from described kinetic model, extract the athletic posture information of movable body; The implementation strategy of then turning to BTT in conjunction with the kinematical equation of movable body and the method for solving of the angle of attack and yaw angle, is realized obtaining of movable body BTT turning control attitude information; The BTT that the obtained control attitude information of turning is classified, and decoupling zero is divided into two types of roll channel attitude information and pitching-jaw channel attitude information with the BTT control attitude information of turning; Adopt the experimental formula estimation algorithm that the position derivative in roll channel attitude information and the pitching-jaw channel attitude information, rotary derivative and rudder fin derivative are calculated; The complete binary channels movable body BTT that the obtains control attitude information of turning is carried out open loop control emulation, and the state stability and the operability of analysis and research binary channels BTT control information are for the design of movable body BTT turning robot pilot provides the basis.

Because formula and sign of operation are more, adopt numerical evaluation software Mathematic and Matlab programming computing to accomplish, and accomplish in the implementation process of the present invention for the stability analysis part of movable body BTT control information Simulink software package capable of using.

As shown in Figure 1, for turning, movable body BTT provided by the invention controls the acquisition methods process flow diagram of attitude information, and the acquisition methods of described movable body BTT turning control attitude information is specifically realized through following steps:

The first step, the extraction of movable body athletic posture information:

According to Newton second law and fluid dynamics relevant knowledge; From movable body around kinetics equation that center of gravity moves and movable body around the kinetics equation that center of gravity is rotated; Be in the movable body six-freedom motion equation, the attitude information that extracts the movable body motion comprises movable body displacement, speed, angular pose, angular velocity information etc.The master pattern that attitude information extracts is following:

$\left\{\begin{array}{c}m(\stackrel{\·}{u}-\mathrm{vr}+\mathrm{wq})=F_x\\ m(\stackrel{\·}{v}-\mathrm{wp}+\mathrm{ur})=F_y\\ m(\stackrel{\·}{w}-\mathrm{uq}+\mathrm{vp})=F_z\\ I_x\stackrel{\·}{p}+(I_z-I_y)\mathrm{qr}=M_x\\ I_y\stackrel{\·}{q}+(I_x-I_z)\mathrm{rp}=M_y\\ I_z\stackrel{\·}{r}+(I_y-I_x)\mathrm{pq}=M_z\end{array}\right.---\left(1\right)$

M is the quality of movable body in the formula (1); The velocity that u, v, w are respectively movable body coordinate system true origin is at the component of movable body moving coordinate system on each;

The acceleration (first order derivative of speed) that is respectively true origin is at the component of movable body coordinate system on each; P, q, r are respectively the rotational angular velocity of movable body around self longitudinal axis, transverse axis, vertical shaft;

Be respectively the angle of rotation acceleration (first order derivative of angular velocity) of movable body around self longitudinal axis, transverse axis, vertical shaft; I _x, I _y, I _zBe respectively the moment of inertia of movable body about self longitudinal axis, transverse axis, vertical shaft; F _x, F _y, F _zWhat be respectively that movable body receives makes a concerted effort at the component of movable body coordinate system under each; M _x, M _y, M _zBe respectively resultant moment that movable body receives at the component of movable body coordinate system under each, as shown in Figure 2, the described longitudinal axis, transverse axis, vertical shaft be y axle, x axle and the z axle of corresponding movable body coordinate system respectively.

Second step: obtain movable body BTT turning control attitude information; Described movable body BTT turning control attitude information comprises: the angle of attack, yaw angle, axial acceleration, normal g-load, angular velocity and angular acceleration information.Concrete acquisition process is following:

(1) according to the movable body attitude information that has extracted in the first step, the kinematical equation in the utilization movable body underway obtains the movable body angle of attack and yaw angle navigation posture position information; In addition, in conjunction with movable body normal g-load equation, obtain movable body BTT turning control attitude information.

Make u=v _x, v=v _y, w=v _z, p=w _x, q=w _y, r=w _z, and, because angle of attack and yaw angle β are less, have

Then the kinematical equation in the movable body underway is:

φ is a roll angle in the formula (2); θ is the angle of pitch; is crab angle,

be respectively the first order derivative of φ, θ,

.

The normal g-load equation is:

$n_y=\frac{F_y}{\mathrm{mg}},$ $n_z=\frac{F_z}{\mathrm{mg}}---\left(3\right)$

Wherein, g is a local gravitational acceleration, and m is the movable body quality, n _y, n _zBe respectively axial acceleration and transverse acceleration, F _y, F _zBe respectively the component under movable body coordinate system y axle and z axle with joint efforts that movable body receives.

Then movable body BTT turning control attitude information is:

$\stackrel{\·}{\mathrm{\α}}=\frac{F_z}{v_{x}m}+\frac{g\cos \mathrm{\θ}\cos \mathrm{\φ}}{v_x}+w_y+\mathrm{\β}{w}_x$

$\begin{array}{c}\stackrel{\·}{\mathrm{\β}}=w_z-\mathrm{\α}{w}_x-\frac{g}{v_x}\cos \mathrm{\θ}\sin \mathrm{\φ}-\frac{F_y}{{\mathrm{mv}}_x}\\ {\stackrel{\·}{w}}_z=\frac{M_z}{I_z}+\frac{(I_x-I_y)}{I_z}{w}_x{w}_y\end{array}$

${\stackrel{\·}{w}}_y=\frac{M_y}{I_y}+\frac{I_z-I_x}{I_y}{w}_z{w}_x---\left(4\right).$

$\begin{array}{c}{\stackrel{\·}{w}}_x=\frac{M_x}{I_x}+\frac{I_y-I_z}{I_x}{w}_y{w}_z\\ \stackrel{\·}{\mathrm{\φ}}=w_x+(w_y\sin \mathrm{\φ}+w_z\cos \mathrm{\φ})\tan \mathrm{\θ}\end{array}$

n _y＝F _y/mg

n _z＝F _z/mg

Wherein,

Be the first order derivative of roll angle φ,

With

Be respectively the first order derivative of the angle of attack and yaw angle,

With

Be respectively w _z, w _yAnd w _xFirst order derivative.Roll angle φ describes the roll angle of movable body around its longitudinal axis, and angle of attack is described the angle between the movable body longitudinal axis and the movable body velocity reversal, and yaw angle β describes the angle between the movable body movement velocity and the vertical plane of symmetry of movable body.

namely horizontal moving body around its vertical axis, vertical rotational angular acceleration (the first derivative of the angular velocity).

(2) according to movable body BTT turning control attitude information, attitude information is controlled in the BTT turning of movable body carried out decoupling zero, classification, the BTT control information is decomposed into roll channel attitude information and pitching-jaw channel attitude information the most at last.

The roll channel attitude information is:

$\left\{\begin{array}{c}\stackrel{\·}{\mathrm{\φ}}=w_x+(w_y\sin \mathrm{\φ}+w_z\cos \mathrm{\φ})\tan \mathrm{\θ}\\ {\stackrel{\·}{w}}_x=\frac{M_x}{I_x}+\frac{I_y-I_z}{I_x}{w}_y{w}_z\end{array}\right.---\left(5\right).$

Pitching-jaw channel attitude information is:

$\left\{\begin{array}{c}\stackrel{\·}{\mathrm{\α}}=\frac{F_z}{v_{x}m}+\frac{g\cos \mathrm{\θ}\cos \mathrm{\φ}}{v_x}+w_y+\mathrm{\β}{w}_x\\ \stackrel{\·}{\mathrm{\β}}=w_z-\mathrm{\α}{w}_x-\frac{g}{v_x}\cos \mathrm{\θ}\sin \mathrm{\φ}-\frac{F_y}{{\mathrm{mv}}_x}\\ {\stackrel{\·}{w}}_z=\frac{M_z}{I_z}+\left(\frac{I_x-I_y}{I_z}\right)w_x{w}_y\\ {\stackrel{\·}{w}}_y=\frac{M_y}{I_y}+\frac{I_z-I_x}{I_y}{w}_z{w}_x\\ n_y=F_y/\mathrm{mg}\\ n_z=F_z/\mathrm{mg}\end{array}\right.---\left(6\right).$

(3) carrying out hydrodynamic force coefficient estimates:

Adopt the experimental formula estimation algorithm that the position derivative in roll channel attitude information and the pitching-jaw channel attitude information, rotary derivative and rudder fin derivative are calculated.

The hydrodynamic force that acts on the movable body is expressed as along the component (promptly acting on the component of making a concerted effort on the movable body) of each coordinate axis of movable body coordinate system:

$F_y=F_{\mathrm{cy}}+F_{e_{1}y}+F_{e_{2}y}$

$F_z=F_{\mathrm{cz}}+F_{e_{1}z}+F_{e_{2}z}+F_{\mathrm{pz}}---\left(7\right).$

$F_x=F_{\mathrm{cx}}+F_{e_{1}x}+F_{e_{2}x}+F_{\mathrm{px}}$

F in the formula _Cx, F _y, F _CzBe the stressed component on each coordinate axis of movable body of movable body nose;

Be the stressed component on each coordinate axis of movable body of movable body empennage; F _Pz, F _PxBe the component of movable body afterbody thrust on each coordinate axis of movable body.

Being write the component described in the formula (7) as the dimensionless form is:

$\left\{\begin{array}{c}{F}_y^{\′}=Y_{\mathrm{\β}}\mathrm{\β}+Y_{w_z}{w}_z+Y_{w_x}{w}_x+Y_{{\mathrm{\δ}}_r}{\mathrm{\δ}}_r\\ F_z^{\′}=Z_{\mathrm{\α}}\mathrm{\α}+Z_{w_y}{w}_y+Z_{{\mathrm{\δ}}_{c_z}}{\mathrm{\δ}}_{c_z}+Z_{{\mathrm{\δ}}_e}{\mathrm{\δ}}_e\\ M_x^{\′}=M_{\mathrm{\β}}\mathrm{\β}+M_{w_z}{w}_z+M_{w_x}{w}_x+M_{{\mathrm{\δ}}_r}{\mathrm{\δ}}_r+M_{{\mathrm{\δ}}_d}{\mathrm{\δ}}_d\\ M_y^{\′}=L_{\mathrm{\α}}\mathrm{\α}+L_{w_y}{w}_y+L_{{\mathrm{\δ}}_{c_z}}{\mathrm{\δ}}_{c_z}+L_{{\mathrm{\δ}}_e}{\mathrm{\δ}}_e\\ M_z^{\′}=N_{\mathrm{\β}}\mathrm{\β}+N_{w_x}{w}_x+N_{w_z}{w}_z+N_{{\mathrm{\δ}}_r}{\mathrm{\δ}}_r\end{array}\right.---\left(8\right).$

F in the formula _y', F _z' make a concerted effort at the dimensionless form of the movable body coordinate system longitudinal axis and vertical shaft component, M for what movable body received _x', M _y', M _z' be respectively resultant moment that movable body receives dimensionless form at each component of movable body coordinate system.Y _β, M _β, L _α, N _β, Z _αBe the position derivative,

Be rotary derivative,

Be rudder fin derivative, these hydrodynamic force coefficients adopt experimental formula to estimate.δ _e, δ _r, δ _dBe respectively elevator angle, direction rudder angle, the differential rudder angle of movable body.

Obtain complete binary channels movable body BTT turning control attitude information thus.

The complete binary channels movable body BTT that obtains according to the present invention turns and controls attitude information; Can calculate movable body in difference running status constantly; Running status to described movable body is carried out emulation, can be used to judge the characteristic such as structural stability and navigability of movable body.

The present invention also provides a kind of realization transposition of realizing described movable body BTT turning control attitude information acquisition methods, and described implement device comprises: displacement speed of motion body, angular pose and corresponding speed information module, BTT control information extraction module, kinetic coefficient estimation block and BTT control information dynamical property analysis module.

Described angular pose and corresponding speed information module are used to extract the athletic posture information of movable body; Mainly comprise positional information, velocity information, angle information, angular velocity information, its leaching process is with the first step of the acquisition methods of movable body BTT turning control attitude information.The athletic posture information of described BTT control information extraction module receiving angle attitude and corresponding speed information module, and the athletic posture information that receives carried out computing, classification is resolved, output pitching jaw channel information and roll channel attitude information.The kinetic coefficient estimation block is estimated the hydrodynamic force coefficient among the output result (comprising pitching jaw channel information and roll channel information) of BTT control information extraction module, obtains complete binary channels movable body BTT turning control attitude information output.The kinetic coefficient estimation block will be exported the result and import BTT control information dynamical property analysis module and handle; Can obtain movable body in difference running status constantly; And can realize emulation to described running status, be used to judge the characteristic such as structural stability and navigability of movable body.

Claims (5)

1. the movable body BTT acquisition methods of control attitude information of turning is characterized in that: movable body navigates by water environment under water, and headway is greater than 100m/s, and the turn step of acquisition methods of control attitude information of movable body BTT is following:

The first step, the extraction of movable body athletic posture information; Described movable body attitude information comprises movable body displacement, speed, angular pose, angular velocity information;

In second step, obtain movable body BTT turning control attitude information; BTT turning control attitude information to movable body carries out decoupling zero, and classification is decomposed into roll channel attitude information and pitching-jaw channel attitude information with the BTT control information; Respectively the hydrodynamic force coefficient in roll channel attitude information and the pitching-jaw channel attitude information is estimated, obtained complete movable body BTT turning control attitude information; Described hydrodynamic force coefficient comprises position derivative, rotary derivative, fin rudder derivative; Described movable body BTT turning control attitude information comprises: the angle of attack, yaw angle, axial acceleration, normal g-load, angular velocity, angular acceleration information.

2. movable body BTT according to claim 1 turns and controls the acquisition methods of attitude information, and it is characterized in that: the extraction of described movable body athletic posture information is specially:

According to Newton second law and fluid dynamics, from movable body around kinetics equation that center of gravity moves and movable body around the kinetics equation that center of gravity is rotated, extract the attitude information of movable body motion, the master pattern that attitude information extracts is following:

$\left\{\begin{array}{c}m(\stackrel{\·}{u}-\mathrm{vr}+\mathrm{wq})=F_x\\ m(\stackrel{\·}{v}-\mathrm{wp}+\mathrm{ur})=F_y\\ m(\stackrel{\·}{w}-\mathrm{uq}+\mathrm{vp})=F_z\\ I_x\stackrel{\·}{p}+(I_z-I_y)\mathrm{qr}=M_x\\ I_y\stackrel{\·}{q}+(I_x-I_z)\mathrm{rp}=M_y\\ I_z\stackrel{\·}{r}+(I_y-I_x)\mathrm{pq}=M_z\end{array}\right.---\left(1\right)$

M is the quality of movable body in the formula (1); The velocity that u, v, w are respectively the movable body coordinate origin is at the component of movable body moving coordinate system on each;

The acceleration that is respectively true origin is at the component of movable body coordinate system on each; P, q, r are respectively the rotational angular velocity of movable body around self longitudinal axis, transverse axis, vertical shaft;

Be respectively the angle of rotation acceleration of movable body around self longitudinal axis, transverse axis, vertical shaft; I _x, I _y, I _zBe respectively the moment of inertia of movable body about self longitudinal axis, transverse axis, vertical shaft; F _x, F _y, F _zWhat be respectively that movable body receives makes a concerted effort at the component of movable body coordinate system under each; M _x, M _y, M _zBe respectively resultant moment that movable body receives at the component of movable body coordinate system under each, the described longitudinal axis, transverse axis, vertical shaft be y axle, x axle and the z axle of corresponding movable body coordinate system respectively.

3. movable body BTT according to claim 1 turns and controls the acquisition methods of attitude information, it is characterized in that: described movable body BTT turning control attitude information acquisition process is following:

According to the movable body attitude information that has extracted in the first step, the kinematical equation in the utilization movable body underway obtains the movable body angle of attack and yaw angle navigation posture position information; In addition, in conjunction with movable body normal g-load equation, obtain movable body BTT turning control attitude information;

Make u=v _x, v=v _y, w=v _z, p=w _x, q=w _y, r=w _z, and, because angle of attack and yaw angle β are less, have

Then the kinematical equation in the movable body underway is:

φ is a roll angle in the formula (2); θ is the angle of pitch, and

is crab angle;

Described normal g-load equation is:

$n_y=\frac{F_y}{\mathrm{mg}},$ $n_z=\frac{F_z}{\mathrm{mg}}---\left(3\right)$

Wherein, g is a local gravitational acceleration, and m is the movable body quality, n _y, n _zBe respectively axial acceleration and transverse acceleration, F _y, F _zBe respectively the component under movable body coordinate system y axle and z axle with joint efforts that movable body receives;

Then movable body BTT turning control attitude information is:

$\stackrel{\·}{\mathrm{\α}}=\frac{F_z}{v_{x}m}+\frac{g\cos \mathrm{\θ}\cos \mathrm{\φ}}{v_x}+w_y+\mathrm{\β}{w}_x$

$\begin{array}{c}\stackrel{\·}{\mathrm{\β}}=w_z-\mathrm{\α}{w}_x-\frac{g}{v_x}\cos \mathrm{\θ}\sin \mathrm{\φ}-\frac{F_y}{{\mathrm{mv}}_x}\\ {\stackrel{\·}{w}}_z=\frac{M_z}{I_z}+\frac{(I_x-I_y)}{I_z}{w}_x{w}_y\end{array}$

${\stackrel{\·}{w}}_y=\frac{M_y}{I_y}+\frac{I_z-I_x}{I_y}{w}_z{w}_x---\left(4\right);$

$\begin{array}{c}{\stackrel{\·}{w}}_x=\frac{M_x}{I_x}+\frac{I_y-I_z}{I_x}{w}_y{w}_z\\ \stackrel{\·}{\mathrm{\φ}}=w_x+(w_y\sin \mathrm{\φ}+w_z\cos \mathrm{\φ})\tan \mathrm{\θ}\end{array}$

n _y＝F _y/mg

n _z＝F _z/mg

Wherein,

Be the first order derivative of roll angle φ,

With

Be respectively the first order derivative of the angle of attack and yaw angle,

With

Be respectively w _z, w _yAnd w _xFirst order derivative; Roll angle φ describes the roll angle of movable body around its longitudinal axis, and angle of attack is described the angle between the movable body longitudinal axis and the movable body velocity reversal, and yaw angle β describes the angle between the movable body movement velocity and the vertical plane of symmetry of movable body;

Be respectively the angle of rotation acceleration of movable body around self transverse axis, the longitudinal axis, vertical shaft.

4. movable body BTT according to claim 1 turns and controls the acquisition methods of attitude information, and it is characterized in that: described roll channel attitude information is:

$\left\{\begin{array}{c}\stackrel{\·}{\mathrm{\φ}}=w_x+(w_y\sin \mathrm{\φ}+w_z\cos \mathrm{\φ})\tan \mathrm{\θ}\\ {\stackrel{\·}{w}}_x=\frac{M_x}{I_x}+\frac{I_y-I_z}{I_x}{w}_y{w}_z\end{array}\right.---\left(5\right);$

Pitching-jaw channel attitude information is:

$\left\{\begin{array}{c}\stackrel{\·}{\mathrm{\α}}=\frac{F_z}{v_{x}m}+\frac{g\cos \mathrm{\θ}\cos \mathrm{\φ}}{v_x}+w_y+\mathrm{\β}{w}_x\\ \stackrel{\·}{\mathrm{\β}}=w_z-\mathrm{\α}{w}_x-\frac{g}{v_x}\cos \mathrm{\θ}\sin \mathrm{\φ}-\frac{F_y}{{\mathrm{mv}}_x}\\ {\stackrel{\·}{w}}_z=\frac{M_z}{I_z}+\left(\frac{I_x-I_y}{I_z}\right)w_x{w}_y\\ {\stackrel{\·}{w}}_y=\frac{M_y}{I_y}+\frac{I_z-I_x}{I_y}{w}_z{w}_x\\ n_y=F_y/\mathrm{mg}\\ n_z=F_z/\mathrm{mg}\end{array}\right.---\left(6\right).$

5. the movable body BTT implement device of acquisition methods of control attitude information of turning, it is characterized in that: described implement device comprises: displacement speed of motion body, angular pose and corresponding speed information module, BTT control information extraction module, kinetic coefficient estimation block and BTT control information dynamical property analysis module;

Described angular pose and corresponding speed information module are used to extract the athletic posture information of movable body, and its leaching process is with the first step of the acquisition methods of movable body BTT turning control attitude information; The athletic posture information of described BTT control information extraction module receiving angle attitude and corresponding speed information module, and the athletic posture information that receives carried out decoupling zero, classification, output pitching jaw channel information and roll channel attitude information; The kinetic coefficient estimation block is estimated the hydrodynamic force coefficient among the output result of BTT control information extraction module, obtains complete binary channels movable body BTT turning control attitude information output; The kinetic coefficient estimation block will be exported the result and import BTT control information dynamical property analysis module and handle; Obtain movable body in difference running status constantly; And realize emulation to described running status, be used to judge the structural stability and the navigability of movable body.

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