WOLFRAM SYSTEM MODELER
PositionAndOrientationCalculates the position, orientation and velocities of the aircraft in the world frame |
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Diagram
Wolfram Language
In[1]:=
SystemModel["Aircraft.StateSpace.FixedWing.Blocks.PositionAndOrientation"]
Out[1]:=
Information
This model does the conversion from linear and angular velocity perturbations in the body frame (Δu, Δv, Δw, Δp, Δq and Δr) that are inputs through the subMotionBus connector into absolute values of all velocities in both axis systems, as well as calculates the position and orientation of the aircraft. The velocity perturbations are summed with the reference flight condition values that are inputs through the subRefFlightBus connector in order to get their absolute values. The position, orientation and velocities resolved in the world frame as well as some other derived values are the outputs of this model through the subPositionBus connector.
The Body2Fixed component inside this model contains calculations with the transformation matrices from the body frame to the world (fixed) frame to resolve the Euler angles and velocities in the world frame from the absolute linear and angular velocities in the body frame.
Parameters (2)
| x0y0 |
Value: Type: Position[2] (m) Description: Initial lateral position of the aircraft (x and y coordinates in world frame) |
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| z0 |
Value: Type: Height (m) Description: Initial z |
Connectors (3)
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subRefFlightBus |
Type: RefFlightSignalBus Description: Bus port for reference flight conditions input |
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subMotionBus |
Type: MotionSignalBus Description: Bus port for motion perturbations input |
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subPositionBus |
Type: PositionSignalBus Description: Bus port for output |
Components (19)
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body2Fixed |
Type: Body2Fixed Description: Conversion from body frame components into world frame components |
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xSum |
Type: Add Description: Output the sum of the two inputs |
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ySum |
Type: Add Description: Output the sum of the two inputs |
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zSum |
Type: Add Description: Output the sum of the two inputs |
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uSum |
Type: Add Description: Output the sum of the two inputs |
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vSum |
Type: Add Description: Output the sum of the two inputs |
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wSum |
Type: Add Description: Output the sum of the two inputs |
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pSum |
Type: Add Description: Output the sum of the two inputs |
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qSum |
Type: Add Description: Output the sum of the two inputs |
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rSum |
Type: Add Description: Output the sum of the two inputs |
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atanAlpha |
Type: Atan2 Description: Output atan(u1/u2) of the inputs u1 and u2 |
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atanBeta |
Type: Atan2 Description: Output atan(u1/u2) of the inputs u1 and u2 |
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signChangerAlt |
Type: Gain Description: Output the product of a gain value with the input signal |
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Vx2x |
Type: Integrator Description: Output the integral of the input signal with optional reset |
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Vy2y |
Type: Integrator Description: Output the integral of the input signal with optional reset |
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Vz2z |
Type: Integrator Description: Output the integral of the input signal with optional reset |
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x0Expr |
Type: RealExpression Description: Initial x |
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y0Expr |
Type: RealExpression Description: Initial y |
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z0Expr |
Type: RealExpression Description: Initial z |
Used in Components (1)
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Aircraft.StateSpace.FixedWing Aircraft model using state-space representation |