小型ハイブリッドロケットの姿勢推定法の検証

抄録

The authors are developing a small-scale hybrid rocket (HR). As the rocket reaches a higher altitude, it is essential to acquire a 3D attitude of the rocket during flight to review the launch experiments. Therefore, research is conducted to establish an attitude estimation method. In this study, a small computer and sensors were built, and launch experiments were conducted using a water rocket. The roll, pitch, and yaw angles were calculated using acceleration and angular velocity values from data acquired before and during the ballistic flight of the water rocket, and the Euler angle was obtained. The estimated rocket attitude was visualized by using 3D graphics. The results show that the calculated roll, pitch, and yaw angles using angular velocity during rocket flight were considered unfeasible due to the gimbal lock that occurs after the rocket passes the apex of ballistic flight. Since it was found that the use of Euler angles was inappropriate for estimating rocket attitude, the quaternions will be used in the future.