A comparison study of real-time solution to all-attitude angles of an aircraft |
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Authors: | Sung-Sik Shin Jung-Hoon Lee Sug-Joon Yoon |
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Affiliation: | 1. Korea Institute of Aerospace Technology, Korean Air, UAV Group, 461-1, Jeonmin-dong, Yuseong-gu, Daejeon, Korea 2. Aircraft Development Division, Korea Aerospace Research Institute, 45 Eoeun-dong Yuseong-gu, 305-333, Daejeon, Korea 4. Department of Aerospace Engineering, Sejong University, 98 Gunja- dong Gwangjin-gu, Seoul, Korea
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Abstract: | In this paper, the quaternion, the dual Euler, and the direction cosine methods are numerically compared using a non-aerodynamic
6 degree-of-freedom rigid model at all-attitude angles of an aircraft. The dual Euler method turns out to be superior to the
others in the applications because it shows better numerical accuracy, stability, and robustness in integration step sizes.
The dual Euler method is affordably less efficient than the quaternion method in terms of computational cost. Numerical accuracy
and stability, which allow larger integration step sizes, are more critical in modern real-time applications than computational
efficiency because of today’s increased computational power. If the quaternion method is required because of constraints in
computation time, then a suppression mechanism should be provided for algebraic constraint errors which will eventually add
computational burden. |
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Keywords: | |
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