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Journal of Control Science and Engineering
Volume 2017, Article ID 9542423, 8 pages
Research Article

A Real-Time Structure of Attitude Algorithm for High Dynamic Bodies

1School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
2Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China
3Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technology University, Beijing 100101, China

Correspondence should be addressed to Xingcheng Li; nc.ude.tib@ilhcgnix

Received 8 October 2016; Revised 11 April 2017; Accepted 14 May 2017; Published 18 June 2017

Academic Editor: William MacKunis

Copyright © 2017 Xingcheng Li and Shuangbiao Zhang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To solve the real-time problem of attitude algorithm for high dynamic bodies, a real-time structure of attitude algorithm is developed by analyzing the conventional structure that has two stages, and a flow diagram of a real-time structure for a Matlab program is provided in detail. During the update of the attitude matrix, the real-time structure saves every element of attitude matrix in minor loop in real time and updates the next attitude matrix based on the previous matrix every subsample time. Thus, the real-time structure avoids lowering updating frequency, though the multisubsample algorithms are used. Simulation and analysis show that the real-time structure of attitude algorithm is better than the conventional structure due to short update time of attitude matrix and small drifting error, and it is more appropriate for high dynamic bodies.