Improvement Method of Full-Scale Euler Angles Attitude Algorithm for Tail-Sitting Aircraft

In this paper, an engineering algorithm that can overcome singularity of Euler Equation is adopted to adapt to particularity of tail-sitting aircraft. According to the practical significance and reference to the other algorithms, we expand its definitions and verify numerical calculation. The results demonstrate that the method is simple and quite effective. With the application of this method in attitude computation system for tail-sitting aircraft, satisfactory results are obtained. As a result, there is no requirement for rotatable parts and corresponding control units and the whole aircraft is in simple structure and small mass. Besides, the course of flight is simplified into fixed-wing aircraft maneuvering, thus it is easy to operate and especially suitable for the unmanned vehicles, for which there is no need to consider physical limitations of flight attendants. After redefining the value range of Euler angles, this method can be perfectly applied in attitude computation for tail-sitting aircraft which is also proved to be feasible through using experimental verification with universal application and reference value in engineering practice.