小型ハイブリッドロケットの姿勢推定と三次元グラフィックスによる姿勢の表現

抄録

Authors are developing a small scale hybrid rocket. It is essential to release a parachute around the apogee point of the flying hybrid rocket, and to obtain the experimental data from the sensors on the rocket for confirmation after the experiment. In this study, authors examined an attitude estimation method of the rocket as a preparatory study for activing attitude control by estimating the attitude of the rocket based on the acquired data. In this study, we made a water rocket with a small computer and sensors and launched it for experiments. The roll, pitch and yaw angles were calculated using the values of acceleration and angular velocity, and Euler angles were obtained from the data acquired during the rocket's ballistic flight. The attitude estimation of the rocket is verified by representing the rocket attitude in 3D graphics.