By Farrell, Jay
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The gyro measurements are also transformed into the platform frame using the (usually) constant calibration matrix Rpg . The platform frame gyro measurements are processed to maintain the platform-to-navigation frame rotation matrix Rnp . Finally, the platform-to-navigation frame rotation matrix Rnp is used to transform the accelerometer measurements into the navigation frame where they are processed to determine navigation frame velocity and position. This chapter discusses the deﬁnition of, properties of, and transformation between frames-of-reference.
It will typically be the case that f1 >> f2 . It may be the case that f2 is smaller than the bandwidth of the system of interest. 4. A linearized model is developed for the navigation error state vector. The goal for this step is to obtain a set of linear diﬀerential equations with inputs that are deﬁned by stochastic processes with known statistics. This model is the basis for the subsequent two steps. 5. A state estimator is designed to stabilize the error state system. 1. METHOD OVERVIEW 11 6.
Also, as shown in the left portion of the ﬁgure, the latitude of a point P can be deﬁned in two diﬀerent ways. The geodetic latitude φ is the angle from the equator to the outward pointing normal vector with positive angles in the northern hemisphere. The geocentric latitude φc is the angle from the equator to the vector from the center of the Earth to P . Therefore, we can have geodetic or geocentric ellipsoidal coordinates. Also, we must be careful to clearly distinguish whether a local coordinate systems aligns with the geodetic or the geocentric normal.