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Title: $An euler angle calculation method for tailsitter UAV
Abstract: The tailsitter UAV has very broad application prospects. However, it needs to switch between flat and vertical flights, so the pitch angle will exceed 90°. Unfortunately, the traditional Euler angle calculation method is not only singular (gimbal lock) but is also not compatible with the navigation calculations in the two flight modes. Therefore, a new Euler angle calculation method for a UAV is proposed. This method only avoids the singularity in the flight mode switching, but is also compatible with the navigation calculations in the two flight modes.