| 1. | When the signal of gps is lost for five minutes , the position error is about 1400 meters , its velocity error is about 15m / s and its attitude angle error is about 10 degree
在gps信号丢失5分钟时，位置误差大约为1400米，速度误差大约为15米/秒，姿态角误差大约为10度。 |
| 2. | At the end of the dissertation , the fuzzy pd track tail controller is designed . the pd controller and controller of attitude angle are made up of flight control system of helicopter
最后，本文设计了直升机模糊pd轨迹跟踪控制器，与姿态角控制器相结合，完成了对整个飞行控制系统的设计。 |
| 3. | The coordinate transformation technology is adopted to compensate real time attitude angles of the swinging ship on the azimuth and pitching axis of tracking equipment in order to stabilize los and improve precision
故采用坐标变换技术，在跟踪设备的方位和俯仰轴上对船摇姿态角进行实时补偿，达到视轴稳定、提高精度的目的。 |
| 4. | Finally , the trajectory tracking controller based on cm ac and pid parallel control is designed , which is combined with attitude angle controller and complete whole flight controller system
本文最后设计了基于小脑模型神经网络( cmac )和pid并行控制的轨迹跟踪控制器，与姿态角控制器相结合，完成直升机整个飞行控制系统的设计。 |
| 5. | The mathematical model of attitude solving algorithm on high dynamic aircraft was established , and the method which used rotation vector algorithm to solve attitude angle was discussed , and the method was compared with quaternion
摘要建立了高动态飞行器姿态解算的数学模型，探讨了利用等效旋转矢量法解算姿态角的方法，并与四元数法进行了比较。 |
| 6. | The results of simulation given in this paper indicate that the sins / dtu can effectively improve on the following navigation parameters : velocity , latitude and longitude , yawing and attitude angle , position of track - reckoning etc
仿真结果表明，该组合导航系统可有效地减小速率、经度和纬度、航向角和姿态角及航迹推算下的位置等导航参数的累积误差。 |
| 7. | As shown in the simulating results , the platform when flying with big attitude angles still has high accuracy of attitude control and the measure for linearization not only makes the model simple but also maintains the valid high accuracy
仿真结果表明，大姿态复合运动的平台仍具有较高的姿态控制精度，并验证了将二阶小量忽略的线性处理方法既可以简化模型，又不会影响模型的各项精度。 |
| 8. | In this dissertation the control loop of attitude angle and collective piston loop are separately . the controller is designed at two scales . and the simulation shows the uncoupling of three attitudes angle loop is achieved with dynamic inversion scheme
在姿态角通道的设计中，采用了动态逆思想，按照时标分离的原则将直升机飞控系统划分为快慢回路，并采用动态逆方法对飞行控制系统进行设计和仿真，仿真结果表明动态逆在通道解耦方面非常有效。 |
| 9. | The control loop of attitude angle is designed with dynamic inversion method , and is divided into fast loop and slow loop at two time scales . in the end , the result of simulation showed that the three channels of attitude angle are discoupled by dynamic inversion method
在姿态角通道的设计中，采用动态逆思想，按照时标分离的原则将直升机飞控系统划分为快慢回路，并分别采用动态逆的方法进行设计，最后通过仿真得以证明直升机的三个姿态角通道得到有效的解耦。 |
| 10. | In this dissertation , radar detection in hrr has been taken as background . the followings are main contents of this dissertation : ( 1 ) based on analyzing the targets and the clutter ’ s specific characteristics of hrr radar , the echo models of targets and clutter have been studied respectively ; the changes of targets ’ echoes in different elevation angles , azimuth angles and attitude angles have been analyzed ; then , the echo models of lfm radar clutter have been established
本文针对高距离分辨雷达目标检测开展研究,主要完成了以下几方面的工作: ( 1 )分析了高距离分辨雷达目标和杂波回波特征,在此基础上分别研究了高距离分辨雷达目标和杂波的回波模型,分析了不同俯仰角、不同方位角以及不同姿态下目标回波模型的变化,并建立了线性调频脉冲压缩雷达的杂波模型。 |
