H QUY CHIU V I H

TRC TA

Cc h quy chiu
H qun tnh (gn vi tri t)
H vt (gn vi my bay)
H kh ng

H qun tnh

H vt v h kh ng

LA CHN H TRC TA
H vt: Khi cc thit b o gn trn my bay
v cc thng s o phc v gii cc phng
trnh ng hc.

H kh ng: S dng cho cc kho st kh

ng da trn phng trnh ng hc.

Cc gc Euler
L cc gc nh ngh bi php quay theo quy
tc bn tay phi xoay quanh 3 trc ca h trc
ta .
Cc gc quay phi m bo th t do gc quay
khng tun theo quy tc giao hon.
Trng thi ca my bay c m t bi cc
gc quay ca h gn vi my bay i vi h
qun tnh.

CHUYN H TRC TA
H ta tri t .
H ta vt O 3 3 3 .
Trng thi ca my bay so vi h tri t c
xc nh thng qua cc gc quay a
3 3 3 v trng vi

CHUYN H TRC TA
1. Roll: 3 3 3 2 2 2 quanh trc 3
2. Pitch : 2 2 2 1 1 1 quanh trc 2
3. Yaw: 1 1 1 0 0 0 quanh trc 1

CHUYN H TRC TA

CHUYN H TRC TA
1.
2.
3.

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CHUYN H TRC TA