COORDINATE SYSTEM TRANSFORMATION METHOD AND APPARATUS, HEADING CONTROL METHOD FOR AERIAL VEHICLE, AND AERIAL VEHICLE

摘要

The present invention relates to a coordinate system transformation method and apparatus, a heading control method for an aerial vehicle, and an aerial vehicle. The coordinate system transformation method includes: respectively obtaining an X-axis unit vector and a Y-axis unit vector of projections of an X-axis and a Y-axis of a body coordinate system on to a level plane of a north-east-down coordinate system, the body coordinate system being a coordinate system with the aerial vehicle as a coordinate origin; calculating a vector sum of the X-axis unit vector k_x and the Y-axis unit vector k_y; representing an inclination angle by using the vector sum; and performing transformation between the north-east-down coordinate system and a control coordinate system by using the inclination angle. In the transformation method, the inclination angle is represented in a new manner, so that rotation transformation between the north-east-down coordinate system and the control coordinate system is symmetric.