Yuxian: CSDN content partner, CSDN new star mentor, full-stack creative star creator, 51CTO (Top celebrity + expert blogger), github open source enthusiast (go-zero source code secondary development, game back-end architecture https: https://github.com/Peakchen)
The kinematic modeling of fixed-wing UAV is a mathematical model describing the movement of UAV in the air, which is based on the principle of rigid body motion and the theory of aerodynamics. The following is a detailed explanation of the principle of fixed-wing UAV kinematics modeling, flow chart, explanation of usage scenarios, code example implementation and explanation of literature material links:
Detailed explanation of the principle:
The kinematic modeling of the fixed-wing UAV is based on the principle of rigid body kinematics, taking into account the flight attitude and motion parameters of the UAV in the air. Here are some key kinematic parameters:
-
Position: Describes the position of the drone in three-dimensional space, usually expressed using a Cartesian coordinate system.
-
Attitude: Describes the orientation and rotation state of the drone, usually represented by Euler angles or quaternions.
-
Velocity: Describe the velocity of the drone in three-dimensional space, including linear velocity and angular velocity.
-
Acceleration: Describes the linear and angular acceleration of the drone.
Example flowchart (simplified version):
开始 -> 设置初始位置和姿态 -> 循环迭代：
1. 计算控制输入（如油门、舵角） -> 计算力和力矩 -> 计算加速度和角加速度
2. 更新位置和姿态 -> 更新速度 -> 更新加速度
3. 输出位置、姿态和速度
直到满足终止条件 -> 输出最终结果 -&