Chapter 1 : Introduction — Navigation Aide tin. +s ¢ ved ancient skill or are which bas betome 4 lm PlEX Science, HS esseariall abrret travel and findnf dhe way frm| one place to anothey, Mayle, one of familior navigation ‘process fy us | cs following Q map. The Navijatoy Will deter mine positin. ly ob servation of pergraphical feetures such os reads, vilers Ails| ect which ane shown. on che map These deatkrés may be defined om the. map with wepect to a pid sytem ov reference frame. Pw example | Positins | tenon features are fren defined with Yespect to the Earth’ Miatiy and the Greentic, mengan by their latinde and lopitude.. Hence the Navifacer és able to determine POI in that Yeference. As an! afternative mevhed , the navijater may cherie a observe cthey objets to FEterMine POS tim. An Ancient gem technique is to take Sipletings of contain ¢ the fiked stars 1 Which the navifator Can yelate Pisition.. The fixed stars edpeccively deting a\ reference frame which | fixed in Pace. such a Yederence ¢ Commonly rare te fis Gn inertial reference frame Star | siphtings enable pn ob Server -20 determin thn with vOsPet ay hat frame. Given fraviege % he mation JF the Earth 2 peers 4 the observation , the naVijatw is able\te we Cees tad measurnen He define Position on the surface of the Earth. | | | An Ahivaleng, prcess—may’ be amdurted using mnercied Sensors gyroscopes and. | Aeelermeters| — 42 Sénse votatimal and-|-tyanslation.e|, natin, With vepece to A | | | Ane inert! reference frome, This ts yon a mertial Ravizction “lnertied Letter tak fic t tion of Inertia] navisatim systems depends or | the Newton's laws. Webtors laws BW det cl foie Prides a papriined gercleiston the bal. |f We care heeius ft acceleration), it Wadd be PeSible to colette He AAMC in Velocity and Pesidicl by Successive mathematical jnteprations of \the eledlepaisk with pert to cine, ] edlevatin can be de ined Usd a device peor: an aiceletometer, Yn | inertia) WiSetin Ystem usually contains three atl Yometers, each a which is’ capable lef degecd¥e Té im in a smple direction. ited with their | | accelerometers are puunted nsttve axes spared me another. Hara | | oder, vigate ni reece Fo. Cus inbroial Veferene frame | it necesarp a ie _divectin. im Which the acceleyomters| are Pointing, lene] nan tf rn we the inertie| reference frame may be sensed Ubi DP ScePid Senders he Ned | to determing Mentatin Gd the accelerg ers At ay) times Then, its 2S ‘2 feialte| he anaes into e Yeference frame 4 the ji tine 5. pl | | NU fence , mercial navijatin System must Tadiade| Wr scqpes and ecelerometer| BY ambi 4 2S Pasible to define the Wranslattional| motjn of the Vehicle) — |iWihin the inertial reference frame and so go Galiudete its Position \withn grline. i \ : | A Charae teristic 4 inertial navidetlon Stem, + Self ~ Gntained + YeY on the availasility Gf .initicl | postion | | 1 4 seal Navigation Shtem 4 [: dif) to “ic Wad sensors mounted , Inertial navijatin item can be classifieds |] Piat-for Inertial Navigation. system and strap dwn ingy taf Navijaticn etem, Z| j Po Bedi: tects navijatin ston yy be lsuth| systems, | she ‘inertial sensors ave mated on 4 stable Plat form and. a ee aac Yjee Wee esoladed| dy0m fe rotavione{ motion Of the Vehicle, | CaM SIMS | Cam. Provide wg Actuate | estimates of | navijatio data | p | : raplowe Terie | navigation | Sytem | | | Betepdeun inertial navijation Sistem remaves mat the mechanical Gang lXiby of platdeom ystems by faves he Sensors attached directly to the iby 4 he basi vehide the henetith of his approach are jou Gast, small, like weight and | grestor| veliability compared | with \plctprtm | Siteres. | the) major ded vantogias inibre) ah 0 sub stantial tncveate in mpucting parler dnd the need | we Sensors bake 4 pendent muh Aishey rktbs | of lead el htt a the gseneidl| fonseiag on inertial navigation ee | | E hel readjeziasal ferction is Suited LY Gmbining he meted of vehicle Fotcthe and Hebe frrce With) fuoledje ¥ the (Zautatioal Geld to mpute estimetes fF eeyi’tei fan] sede VAOGiY nd, position with, ‘sph fo % (re -defined | aan frome, A schematic YePresentation # Such an rer tial Am ten 6 ti. pad oe measurement tes | vehicle i t ee —-olatelrinc- tor Agent conec so} —7 resulta er le, Set eee aan ree pet at { Fig 1] Functional amponents an Inertial havifation SrteWr| Gyrscpes previdey measurements 4 charges in a WhicleS attitude 7 23 tn #! y with) respect to| imeryial pee, Accelerometers, heler, Cant, dd ditoblte | bepvesn | Hel Hub hielo. sree 4 he acorn dhe Hourly. This $uantiey ia the non: GAtatinal force Per unit Maal exerted % the Hence, the (measure ‘ones privided. by “With al @ te eeuq 1 y that Wy in prdev to determine phe acceleratim 4 the wehicfo| with repeet 2 inert icd Pee the essentic] functims which an inertial naVifttin Stem must perform mnéy be defined 25 follows. + | Use | pyr scopic sensors Yo determine ‘the enfin lade 4 4 vehicle from which its adtiwde wlative\to a veferente frame pay be derived + measure Specific force using gecelertmerens | | yesehe the specific force measurements | inta he Volerence fame usinf| the: browbdye 4 attinde derived dom he messure nent f jy? ep hes, “Aan adcess tm & function POON he. iesttatirel| field |= Lael Penal | attlectin ad the tarth in the cae | af Si operating im He neinry | | the! batch “ intaplate the, Yesolved| specific dere makatemenes. +0 obtain extinctes | a Wel velocity | and | isin the | vehicle C| lala lapel ot fle Leheae im In, order ‘to. determine |Pesition on\ the tarth , #5 Necessarf to mike sone assump Yejarding the chap e ‘ He ce In Actumate |navizatin, B% Loam 40| model cineden reference iad intend sphere. mode | actanding to this me define the ‘tite pearieters, S| | Hi length il the “H. = major axis K | | jh OF the | Semi - min’ axis | y= KU-P) shia, AeA G the ellipsoid | Fea | ihe} f | rd Major _eccens icity 4 the ellipsoid | lele kta] | || ie snarth's | Yate rH SL 2 7.29215 x 10% Yad/e 2.049061 7h. a et rpLue ssl pial Hele ng |the faredr ined out tare if ermt co County Lae Fel Mee soo ican i ellipsoid in| fotdar fad approximates more, deel to the tue. ponieen ae iY County | Diderot raberente ellipso) Aue diff erong, Pomneter aude | tila | empreied by it ro) pet ivabe o ditferent roerone ele Thais | ay Inedeflf he | Bava above: the rates Fchecle diet ney he. ered in| (eda Malis | uti es z reds a tans vese rt of curdetire (Re) ay! gollns. u ch I | = Ve T ere fo ee (Reth) | where et Re = R/u-etsinte)® ae 2. Variatin & Tatabek si? attactin over the Earth ahedfotometer| pve dasliwents [et Whe Uiferente between He actlarn _ wih roHect te inertial | space and |e Jravicational atttaction ath fe (ocath 4 de |neplbae Sistem. In order to act whe Precise estimates | me 2 aa “needed Word ttutate niigetin nthe. Vitinry the bandh, , Its eer to made] aecuratlf the garths Jravrtetinal fell? cn Pictve, both, eke mid nitade and He pearsted | He! ani rate tae with postin on the Earths surface and eight above itt ‘ak deviations are sy as | gravity anomalies, the deflection of he fail way aoe ipl he “Vertical may be be apa as anjaler Giukzion pe adaek Gud Cast oxy en |e al | cs Peer . ce the tated perp 5 where 4 idle | meridian nevidon. peered, || tage fata diated 4 ae srt YW 30 ore seemds | | oer « | suebale 4 ithe, ei ide recie Anoledge athe eave veetoy pesos snp # ceorkain 48h, | | Aeeutety Ofplicetions, wineve the. pleco of, the bet hetemes an important. facto ae pera | inte Variation ¢ ae najnitude i the Gravity Vector wich | letinde at sea | (A= Gh tind # ¢ change ae ste frond | a fat datoal 14 630 4x10" sin? -I810% sin2u) (nde >) f-} J | | hoe. sa a ts | H | | | fa | aed Peri. eae crea and Si | to. asume chat he Voriation of anviy wi latitude a I tied 4, = [olee we rental te the. 4 a ert right ba a- phe ral ee Ey | |fte) & dernted fw | above Redoronce Frames rh Gor ordinate Y04e -H coe rane) a uh ih vert ina | OB Aincident op Viged-ioa) | Bi - frame) Ms sk tonal “poet 4 ae Thiet i fai te spe be ‘flare | . 3 “s at * “ls ed tah ect Aree ee eee | " process of aan Whe kel fe, the bentre fed Jt) defn. ft I \efua toric “ Ba i ‘aaa 4 land ahs cane sm re earph | is. He. aris Oxe" “alo the wid, re daa Wik He ear ca aut the | ani dak ise deface) a Ord Toe IPH et: | Pievenaes defined by| the E it tt | la te Berek tind | He ares ofe) %, 08 teseeeim eb the eae me Earth Frasat the Joetion of hvifation Sarem , point P, and axes aligned with ele divectians of morte east aay: natth (dn) and the Jocel ver-eital (#P, 8a) | The turn vat f the navitation frome, Wik vepect 2 whe Earth ued frame idm, 13 oven by the motion 4 the point P with wars the. Eareh, reread at | | | {5 * The navigation frame (n-frame) \s| a) local geogrephic frame which has 1ts orifiv | Pa | c+ the wander azimich fiome (w= fame) may be used > aupid the deo | in the Computation which occur at ae poles, of the! Ee iB Like * i navigptin frome, je§ locall ele] bet is votated thy fi a Ly So thal bly gedme th fame) is an ora as a which 5 elit bus uk Yay Ph ad yr ates the Velde me which el ia ts em transport yate | kndor angle ae focal vertiChapter 2 | Sensors | | $21 aposape 1 Foo | GDP one Hel. tn Varies Opplca tions ao Sense either the ale tured or anjular tate 4 turn about | sensitive axis, the sensos ore wed in pllowieg WA | + Flight | Path Stabilisation. + adtopilet feed bach *| somone) fktforn| ‘stabilisation’ | “Navigation | | qnescepes, | according t deir deifnatim. , Gn be classified | rt | | ite Htw0| main 7) medal qescepes | EI aaert aynscyes { I . ateel | | 2 Aynsepes | | | Pe i | | i pets | rt | Un. ‘a inal _pynsap His aia f at uc laser ants she pes php 4 | oa saa snake ue ¢ the tre a Pang wheef A Sinn} wheel tends 0 maintain thea rection Perper S datines his 4 tin. aa er rely oe donwesd prefers aa he fr mearomn Sepp oP is ‘nor nee it tx, the ‘ees dB rr 7 pa Peed, 0 I | Laotian an sh uw” || Aer many seas | destined , The perfomance *E Aniondi ta whe nay achive Varios rom the | Precisiol devises with erty Yates of. leds idan reer Ct a fotatiy ain i op eeietyh., 40 (as accu er aa amr vates te of ef. déptees er how thd, unl) |, Ganvenctiona]) mane Hill bbe widely bn) Various \navifeti + eee | dbsid Med a fe |enllelat | pho | nb [aided edt “ fire | ls Princifies | ae af spon mass aewecpe depends or + sever poem namel} pyr sapic iE mere] ify | momentum! land Pecks : I SR Cona qynscpic| inertial | | | | Gystapic imereia | ik biasic operation af all Spinnin | mass | Bynes, id_defin a divection in spacel which, is fixed |in the |imereial vefeinse frame. |The establish of a fixed divection ‘enables rotation mo be detected, by | wicking reference to _ Fixed direction The | wtation| 4 | an inertial elenent qaleatas an anfulay momen Vector which is incident, with the \axis.o Spin of wheal | 4 rl t YEH ! AS f4 | t t | 7 ra 6 Anjullor Aomert | The aguae Tab wlan cH) # la rotating, body | ig the product @ its momen of pare (1) land | 4s | anfulay veldcry (Ws) teferred to the same axis of "tat “ we motion | | 4 Ha lWs nh where 1| is the sum | the Preducts of che moss elements that make UP the > “a ad! the Sfuare ef their distances om the Bien axis | | LaZr" | wit Frm the latins alee, angular momentum 1s defined |by phe destributim Fp ness on ial todo esl well a5 LY | res | doafelor, tele) per paceticl opplicton an he pre hand, we bpe | anfisay | memen ou | 14 nsen 20 be very AA, | Tete \limed_drid't cased | by undesived gotues if HT, Wit or ive the major Wh the ess ae ter tits ge. lot the, epher| hand, we dact, sate one, the gynscope 134 lige , heavd leh j2| take Voy time 70 yeach operat 5 ol phe ot Henee. many mpi (fave to be nade Loo 4. jrecesting [ | ro sider al ms “atte Hiskest point, P wrth red “ Pte wy, a abet “he ston ingots velocity He, mess 4 eel by adding the: vel LI NT teks heist alba te ta Lefora fect+ oH SPin. abe f ra ss! 1 maris | | / rm Onis + ea Pte Hg (at time t460), } : / | ite W) / if $4 fut d of Phra angle | T=RXF (GOSS | product) | || | Miter 4me wheel fas _|spun| through go degrees | arvives| ae the Point A whi [| is hatin the Expected Jine tt’, but in al plane fakek fas | precesred abit 2H axis PP’, | | RS Gan sider a heat | spring wheel, with angular mementum yector fi define by Ha, whee 2 1s al ume vector, From a Fist law) | Offli€d to ang Potion, the argilar momentum ecto” Fla vemairts Grstant unless the wheel 1s acted on by 4 torfue. pppoe a torque T is Ypplied 0 the \dise which Guse it +o Preess, At a vate| B= we) where @ 4% @ unit vector! along axis FP. Ove n i Porol!¢ time st, the wheel will. have processed High tn anf 2st | abouct| 1, | cet thi, toe | ‘i direction ‘ose Can! be primate to be ay ae a the flee momentum vee wil] at changed |to Hy. \whene = |My + on | Arible 1 T | to Haan) Ree a BS ht west (txa) | 4 | ae the aeeye in nN momentum ovey this time re i expressed 5H ee | =H tsb -Ha et 20. the| ‘ede | 4 danse 4 anjilar momentum is \ iven by | “ge = Hw CTX) + He Yd i T i | {tf aha Bx + feud =H E-%) +515 = Hwst (tx) ASHE4 ae Pim hit ab be ee Renae 4 wa a we me Tattle oe Sone im 4 HE rote ae Ina actial speiere his is normslly tt CE BH | 4 T Hes | | tly “| eo gre wel me/ wii el a 20x ae H it ra in ints tems T=WH ery far Ft Ths 5 \sonetimes known as the Law ef anosteies. Eka) spa Pettta pon t + + L oe t + Helge PELE PEE al yee ste ae ale att 7 i schaba + |wh nae Hel ¢ | i or lapped ‘pan vate fan be mend sid 4 design i itis (and encentctonal ‘Yeficiencies | | | / | | | | | rit oa Pita fe El | | i + LTT me eal a | + = ~ Raat + ot | } At a ++ i os a A HH | rH oH HH eet EEE Hacer aeeae ECAC ere EEthe measurement of tum vate (Wx) Provided by a conventional | ayrscpe may be | expretsed in terms A the Yate abact its input axis (Wy) as, Wx? US) Wy ty Wy Palle #05 + Brae + Bae Ae + Bore 44 22 1% Where Ox and @a are the accelerations of the fy pe along hes, input and Pn bxes Yerpe By = F- insensitive bias |; By, Bye = §~ sensitive bios co Boe = My Mp = crs -aupling coefficient ; Sx, =\scale| factor \enoy expressed as, a Paani ea represent scale! factor| Hor ih each 4 the emmy wotficionrs Aas repertable and hon- reparteble empenerts 7 repeatable comporbnes ef S,) My, Me, Be Byx, Bye ard Bye ave, mexsurable and 4 effects | Gin there dre be Grmparsates. In\- Yun | Yandonr erm can onl} be cnctrdf isoelastic bias ceedficient ; Nx = Zew-mean Yandem bias by cared] sensor design and mani dactutebaat daumeee oe ere The form anasenetion eter a te wed | t0 See et mee ie eee tI t eee F fg sel et obatilot af ad ns | Sil se, aeatattac| I Lt Shs ace co aan en calor wok ke ae | aceunatp range, ; e 50 milli-g dour. a a fou eel | Solid tee [eed have it P Fes. Pardic ee Sillcot I 4 y| cla ct ia) |_| LT ob dof nme aout pe sip om 4 WA oh re A i __ Second Law) fe or ast e or (ats0s the body +} onelete i | jnecdal fae, st feation. 1 4 at | | le a ho me edt “he nt 4 opie an acclereneter. ies Smet fim ig shown in fal rl | | 4satee eee cI Lt Hee ma 2 m#+3) ara | amen 1 | Subjected 4 sl 4 ret mass tends mat He dot fa : a ge elle 5Under steady State Gmdition , the derce actiny om the mass will be| balanced by Usteuiy | roped) ‘the tension in the Spring, the het extensim of the sPrinf providing a) mecsure 4 he Zpplied | force, which os Biopet eemal 10 the atcehvation In. ft (2-20), F 4s the total frce acting on a mass in Spe; Ff is phe refered as actelbyatin Produced by forces other than the J”AVita tinal field 3 Ew fectel; A Is | displacement, fn Gecelerometer insensive to phe gravitationns aectlontin 19) and thud prevides an output prpertimel co the hon -fraviteria force fer unit moss (4) to whith the senso js | subjected aloyf its Sensitive axis therefre, rhe Rnovledse of the Gravitetimal field 4 essential go encble the measutenent PYPvided | by the atceterometéy to be relsted to the inertia) accal Many mechanical devices commonly used, inl Present -day jnéreial_navijeten Ystons for the measurement of specific force Perate in @ manney. wanes te the simple | spring and mass accelermeter described abeve. | 2, S@nsoY evyors all ackelemmetes are subject to erie which limit the accurayy zo which the applied specific force (an be measured, the major Sources of erwy, eral mechanical aelen meter are Hong | | . Fixed bias, ba bas from zem on the measurement when joe PPplied erat git Hel TEE Kt ake | ins A teaepoawke 4 [aloe ahd Aid a hy | units | f milli-F oF micn—p | Scale fdetoy ermis, arns| in Scale factor, Scale factor ermrs may be expressed +P tes of the measured full scale (fuantily, sosle factey non-linearity refers. meaet) _Ystematic deviations from the least “esis Straight line, which Yeletes ‘the Sia baste] (any SGr4] to the ‘abel acelermtion . — Coupling | exyrs, | ems notmel to the input axis, Such ers arke| as a result [ef inanudal-turf imperfections which give vise to nun orehegonelity ¢ ‘the sensor ax 3:6493 halo | Gas-cauplin§ is often eXpresied as a Porton tase the applied acceledatim,.doar con avne| Me any Peadiclans auceleromet ibyation and “the pendulum displacement. This phos petween the) vi prot may \be expretsed | in units A ole” igecelerometor (ax) ma be exp senbor ennay Cacdfi Cieats as follows 4 (2.243) 4, measure ment | povided by an essed in tery oh dn applied acceleration and the + May + Mele + Bs + By Ox ay t Mx Oy = (it Sx) ax ditectio, \f the sensitive Axis where Ax vepresents| the acceleration applied inthe ‘and Oy, Qu are rhe | acecleracions applied perpendicedlar’ 22 the $f = gale_faatr ener, wsualld sipieiled a ponomiel form te M4, Me = Cross axis Laipllng factors 5 Ge rdesrbadonte Nth By vib Penduleus ener eddicient + in. general, the, fixed bias » cress caupling and th measured and | Corrections am be applied te Yandem biases and vibvetion defor Serre AX, include nonlinear 4 Ny = tandom bias, fe stale fatty enw, cockficient an ast the repeatable cenynee tf these envi. icoutcelp. ant enors ant be compen Sated,Chapter 3 Basic Principles af 1Ms $31 Coordinate Transformations The transdormation of condhinate BE isn Important | aspect, of faeces! Navife Satems, the tins formation between. ae Varin Cortdingte SAtéms Can be refpbeded by the Govidinate wansformetion metrix, \which ave the direction dasa of one |\ Coordi frame with Yespect to the other, arranfed a4 an orehe matrix, Flere are sem methods 2 P&fein a vefuived transformation, us) Uitectitn Biine| matrix) Ener a @) Faternions, ‘the divection Cosine metrix, and | the| faternions ere classified 4: four -Parameter transformation hile the euley angles ave classifed os et Patimetey thansformations . Three - PaYametey transformations cmtain singlets | at tsigaiyrtrobi Gettin | chentatioms, While the forr - patameter -thansformetions Aave Letsaad limite 1 The _Diveetion Cosine | Matrix (DEM) 1 The thansformarion matrix between frames a and b fosufts in a 3x2 direct ing os foyows | Gul Ed 1 Gs | | cha} Gr Ge Ge (44) | + Ga} |Get Gas) Fe clement Cu ef the DEM _represores Ae che F the anfle between | the th axs| the g-frame aad |he ith aes 4 the b- frane| An asp pe 4 ba Dem 4 bet (cd) = 1 G3) =] (3h) lh Praaae Dont is er metrix, } | th mote h (ca)” a Cen leigg | [-[d3-} ay iaatet | Pane 45 donsider the Geometric smterpretation of Dea | SupPese a yertor K tized| in phe teherence frame a he denoted Re, While it cdprdinatized in the b- fra J RY According to pGM definition, these tule Vectors Can thon be\ Opresied as = RIDE FRING RE 3.4) R Rea RI) RDG eR DT rs) tt fot 2 A4,2, each KTS is the, scolar Component 4 the vector R prrjectes (dot pail| [rt shod be | alent the ith ar frame Coordinate diveeti Now_we Can ate de unit jets Atte ae mee Fula | | i [ ie! iagh wie vith att ee | U caPnt of fetes 1 | f “wipe y itipeied DER , apd is therefue, the entire fae & asin fom | | [ea mt | ee L pelen le ie ek we |e aaR: wt Fe age Ly wh oe tha | ee oe det Podect|betieen the (unit vectors Tt aa He Il | ri th 2/ ili] asau\ = ede a pie or |owt-vpeahes each, dis in DCM 4% related te losme al # ha cal ime te, the name | direction taba Metrix | | | |—+ | 2 the pom, itll EMER i Caigairenpel) [ ee Fete Fer the General veins eb de Scene cesneuenanl: “aiillay, velocity Day) vecto “phe _yelecivel_ovie Gan be described yy the Givertion | Cosine meer die enti hah ee Ts 1 0 Wy | Ws ml uae aa-als 7 7 it 1) t | TT bevel! bal et pe 4+ —+ 4+—— } | | whore. he shen - symnesric fom at Th» denoted Us od a a 4 | LI Gy, ‘ rH whe Lo wy wale We | | | ‘the sesanation DAL denotes he ardllat fone | 4 the + dine raletie “ the fiane coodnatcel in te b- fede, If the ini condo Gee) are. dows, we ne rascies olf | au cH t BEELER SERRE BEE rian, Topresentation , a Sores ot Hel ay pe rea coalesce she roforonte | frame wa He [cepted | si] mf heb a fale et Eocene tot +414Gonvenctionc| | Yoll- pitch- Yaw angles , i should be pointed out, that the Ender anfles gre not aiquely defined, since + ts an infinite set 4 Choices, For a particulay choice 4 Eufey ales, the Yotetion ode defined must be wed cmsistertl, if the order of tation is intercharfed, a differen Buler Anfle | representation 1 defined suppse Eulers angles (9, 0, %) define the PSitin of b-frame defined axes relative to a-frame defined axes (X,Y, 2), The position ef b-frame Can be tried at bf a sevies of three ordered V5At- handed Yeetins of a-fras Sppese che lations elfowinf 21 nade in. the. PIIGNE chit, 25, atti cloeRilive SEAS, Wiking. | deon ‘the axis ef votation toward ‘the olidin. wl Q Wtation made of the (X,Y, 2) stem about hale the Z axis hm an anfle 4, Ths PIECES: resides in @ new set Ff axes Xx’, Y), 2). A Position Vector im the NOW frame | Gn be expressed terms of the oidinel cordinates x bY \udinf the tation motnx x x aH | st 10.7 [xX } Y| sTA)|Y| 2 |-sop ast ol fy GH) | | z 2 0 oO I 2 a |e setend wtation tobe made by retatinf \ehe ( x’, Y', ea pat aboct th Art aes ky an. anjle phe Coordinate _|thanksftnetin. fr the (X,Y, 21) -axis System 20 the| new| (x” Y2") i | Stan NY iH is x, x] [460 =O IX’ vie a: VHB) yi l=| bt tt oly Ga) em #1) Lone (0 a8 Le 3) oi yotation | abrit x" axis by he ale go, moves the (x’, Y" 2°) Shtom | the Fig, 2), The transformation epyatios areAll A HE howd be | Pointed ut, “ehis | did ret po nee ere in he onder #6, 9, he wiatin a tet fame go he OfientAtion 4 b-frame, the expressing the Gmponents fg Veeby in G-frame | % | Rt etre 5 ef he conporen: 4 Weetol of bi frame is | Bee A RL Py aecae stm ind 1 ay | | {4 | corey cal] y|= tel] y|=|apmosp-sipaas aapaptobend ob — cs9 op|| y 2 LL atinaat tad a abet ov edlle al et { (3-18). jedbnd dhe “despre a ae prt 4 01, U8 ond A, whi, rope a ee Ganjle, transformation macyix . cul, denote whe matr te) as ch) | RRenfes der the calor onflts are as¥eA, iteent and af 2. 4 franssfrmc tio, of, dArdeler Velocities | | “The Euler anfles, like the 06M crientation pommeten if With time, or a | oat ee tae , ti ae brestn, and Ua | rae bebo ik ple 4 bir ra ae Ws), we ansiser each derietive |Filey atte as ¢ + angillar velocity ee sel aes ‘Seto ik the_aaple i 0 4 fe We de 2 06s a-fame in Hs frame, ee Hekok of of He oxpmones Lane (0, Spe le np tr aoed= +d sng t= |b 0 sinh the = $50 any (3-119) ©) the Vector 8) is defined in the (X', 1, 2) Ystem Where its Components fave the Yolwes (0,0), So he transformation ‘to| the b- frame |is, Jiven by ox 4g t 1-4 6y| = [0] LB] 6 Bid) O 0 Wig 13.1) and 3.1.12) & 0 = bag (3.0) Op = - B Sing where 6x, Cy, O; ave the (x)4,3) components of 6 3) che components B in the (X" 1! 8°) Ststom ave the velues (P.0,0), | $0 thet, Wem the tiarsformation ar, pimped 4 4 a 6y\\=[D] | 0 (3.418) bs, 0 F1m) (3.1.12) | & 26 | } A = 0 | | feo 417) rez axis | b- frame Go| the Gonponents af Bin that | Stem. | thus We = b- 4 sin = by + bet Bx The amponents f gach, | the derivatives 4 | the Euler bupjes must. add alm ‘a [ Uy = BAB Sin + OP = Hy + Oy t Dy Wy = 4, 18) 4B; = Nae asp\-6 sing Bh 20) Pt ‘Tn erder|2o exptess +, 6 and f \in terms of (wy, wy, Wa), we solve 3.1.20), Yieldifal Laem eee at ce [as ue + agen 8 TH prt lac Lo CC | aaa Peale. 2 died cornish ten en elite, the sane ‘voleci¢y inthe arent pat de yates of doe 4 he euler anyles. mie dhe oRatins sf vatitionl , kay baat ie roel are 4 soph expressed |i je body = fixed sei paral | is rE ae 14 { However, E7¢- (3-4-21) yl el ‘serious didticutoy il ; side aa oe expres atentatin. “Be ett - pick angle eae te mtb Yete “Teaco stihl because of te em jaeten on, his is (he |S Fiaal lock paler, {ih pot syed wuld limit dhe eta ang faked NS ‘ llerntve mevked ob Pep nf “aap seers: vebciey thet ai the fimbal - tock “el js the termi pperietin {4 st iis Seten tret fne Eat Bee EEE In clap wwe alveck) jrctodace sheik afernack emt bet. “you | We introduce ae _efaniformatin land! | heir eee i TT pal L | | t Lah ~ a oe = | ahah Be [tet Hee xo, 2 : bE e ¢p-framey ae S t 4 4.6, 1 Tie ig ie 4 9 Goby ame. “go. Navigation Frame. | | | tH q origin ae center et mist + HI Cl FL i jn: This, tatcrciel involves bee | aici oer bah ate ler aes a8 Pek) a He » mkPointing leg tude} direction , the yy axis Pointing the Vigkt' wing and| the 24 @ Ponting a the Navijatio frame iy defined by the focal earth axes with the Xn axis Porting the Y Ox east, and the Zn axts dawh, the voll Anjle pis defined fo be positive whan he rile win dips lelow the hovizorte| Phne , DEED Roll anfle. in the nejative 4 the rbtition, abet Ay thet would bring 4, into the horjzmtal Plane: the Pitch kufle p is definal positive whey the mae +t che aivemft 4 elelated above the horjzmte] plane, phe pitch angle (sw anita betwen the bedy axly and the bidy axis Projectin om ‘the huvizmtel Plane The yaw anfle + % defined Paitive whe, the aircraft nde is wtating frm nore tet. Hedinf ey the arfle between Ah, ard the Prjcctim 4 the body axis | (dhe |herizere! plane, |The | divectin Casine matrix Winking ehe \body| frame| and he navifetion pane wil} te denoted | by Cl, | where a | fae a= N | || = Cal he Zt (Beh 2a)| &, dn ine 0 theregete on Can 9e (frm the navifation covidinates 24 phe body covrdinetes| by poset Weatios 4, P ard ¥, she order J ritetim 4 21| follows a He Fist| witetion ix ehruph the anfle # obout the dom ev 2, -axis | iy the secmd wtation 4 thresh phe ale @ abone Yl ax Jn primey [Aah Hel third | voterin 15 chro he anfle fi alm XE ars (xu ex) [Then CE er be defred os | 3.1.12) j [This exams forméccion i ver) important, in INS. det Pletefom Ins), here are GP= GP Me elements of the ditection Cosme Cb pre.e 1 | | 349) (c= Gal Gul ‘ fa Gn Gul Ga tS lath i [Pome ft. G43) | he Fitedtion | Fiel “elewenes areas) follows Cue oat | Gh= alone (tpt eale tame OT | ic faa lap eapeht | Cuz SAB Sab Say toh OY at sh aie Gals apeay t sing sn G2 th cn0 Soh “Sapo P ft aus espese By examied he Bt ak ner, we hote that the| euler sop a be obs et eet | Gs | | ct Baus a1 Sas ve Fee | snag | . EEE EES ee a lalla Ch “gear” wp | aa everett 31,28) oy “Sing _ si ich Do rete 1 ime ars Ss Piet to 0 = ea | 8] anal fom tne oe Hot, we Go determine ch efor att 2) Earth Fixed to Mulfation : jo fe } | | | origin, Systom Location (NS) E- | Ln Orientation The AMPRtion x05 (Za, Yo,\2q) are Gomoenlf “alpted with ye fat é up (er down) fivections. For the|_presext_|-transfermation. , We. will atsing, UA | es | axis Points in the “P direction , the Jn axis points east jad the Zp AXHS Points a nn (Gal is terized | by tH0 pied. one | heh te anfle abo Ze ax ,| and te ther thrOsh the angle J about ae pe 0) Rotation lest the 2 axis hish the nfle de | [4A 6 Ae} te [= |-o_ o_O z{\ seh a) +34 a(2) Rotation about the Ye Axis thy the arfle gf xe” aI 0 se P \T xd Ma) eo lt | Oly ge (34. 2g) Ze rsing |0\ | Gp\\ | de From these ransformatims we obtain iy] [46 0 sinh Tad snk |0 [Xe] | [eodasrA dsr sinh |[ xe A=! 0 | 1) 10) |] sm) A | 0 Nite =] -SHA. ar QO || de Bh Ad U-smf 0 Mg ILO 0 |1 Ize] | [snp sinh ag 140 te 6 dn | =| C8] de ai ie “if we define navifetin fame as \Xn Point north, Yn Cast, 2n| dove, then (3) Rotetion howe the %' (%) «Xs cheat dhe arfle Jo" th Oo alin’ All=|o 110 de 13-20), | i t_\o| oj lize" | tk | Me] [0 0 l-l [apex | aifsmy | smo TI 70 | ia tl =| 0 1 0 {] ra AO Hae | | | i 2 10 dT [sian sph sinn cen SL do | | Shh srfsinh “Uf Te El tm ar °. de EN apshrd shh JL de Toni Should fe| Powted ott, in order to be Goweriene zo studtrt tus, different Loin, eten ditferore Poor define diferent reference frame Fe mangle, jn Gina, we us fe by erve 0s| Hu. obey VHA unk, Gy Potid ltd dveetio. 3, Posty op iets The havifetion frame j, defined with the Xn Ponting east, % Pehein§ north , 2, Pod| { | erdety aes ha E> HHH tem ee =e HAZ, | | 332 general apat Efuation, | i We discuss basic, navifetion rnechanisdtins| Nasifitin neclanizetin | mfers tothe natal and, potebunes used yith| a. porieaer ao nalifetion Stern in ke» fener Aedepell wa infriiietion Fav Gnvonionve | a etal exreh del ig + However, Take Testis Gan be easily extended to lah ellipsoidal aareh reedef, ue dierential efuctin ef motion ef a vehicle rlie 22 an 1 ofame. Gon be wri I in. vetter fon as | | Ht . | Rav (3.200) [A]. -F raw Ben where | R= Seocentric position vecdol ; V = (Ve Vy Vil= ‘aha 4 te vehidle relative D4 Fz ranPravitarionsl Pecific force (this 6 the atceleration measured an. accelerometer); FuR) = Piavitatinal actelevation due to mass athractan , Gasidered Positive piverd the o “Hel corel! q abet ata sat i FH | +i 7 alF hae] {dash i? 2 mi mer \achalbedoh With, respect | to t-fame £) (22) peers we motion € the vekiche in. inertial er Dwifation fea ihe suface ¢ the ok we aw Webco) 4 He vehile 40 Fame, hid, deta ae ‘the expression ana trftime anf €- fe wlockies Peet tT 4 +-+-+4+ Lilith Dalia HE delet(ET =[ole + Bak = er + Dex Von = T+ WT +h (3.213) where Pie is the ayular Yate 4 the auth yelecive| zo 1-frame; ep is the velocity « Pittame| 4 he vehicle with Yepat tw the arth; R is the postin vector ¢ the Vehide |Yelative 10 t- frame the distante frim che Centoy ¢ the earth to the vehicle) Ht Should be noted thet Coriolis acceleration is present when a wWhicle is mivi With Some velocity LdR/dt], with spect 40 the movif Gavdinete flame. Did ferentia: 13-23) with Wespect p 1- fame, and smie|da/it ep, We have Lee), = Heel HEY Substina tf E9. (32-3) Info Ef. (3.24) \yields ia =[4F], + feex bet aig CARR 3.25) AS We'-Rwod, the output % the accelerometers give fuontities hat are meauted alo Pltfirm axes in p-frome. | Pidferéntation or intefetin these components is carried With pect to she Platform axes. consequently, she derivative A the velocity Yop with 40\ the| Phtforn axes an be rwlated to the deyivativel with respect tm inertial Space | E a i t-t | | eae + Bx Tey | we | where Gye is the abfllar vate \ef qhe Platform with répect Zo inertia] a. sane 2].(-2-6) ite ERAF2.5) wesife in m= etl 4 Hak + eet + Dig t Rte) xVep t Boe Fe xR) 27) de rt Dep = Tye + Wop). Final, subastitutinf \E9, (3-21) inte G43-2-2) gives oe fe [ez]. + (rT te tidey)x Vey + Fice xi Rie xR)- BR) es-2.6) te Centripetal axceferation 4 the cart, ‘term| Tye x (Aye KR) is & dunction of Psi He oi, onl, it can be combined with the mass attraction Privith term p0 jie | the Giauity Vector as | G(R) * Bk) - De x (He xR) G29)ey 7 8 a El 3 ha a aa 3 bats {giChapter 4 Pletdorwi. Navigation | System E41 Intduction the purpeses of 4 ‘stable Platfnim fre the Mowing 9 |% arent we. actelernmeters in a definite Cov/dingte frame yelctive tp thé Gard ineeoal Space|, despite! anfular | motions |af the vehicle 2) Io frovide a balan veabeut ef Wohide attitude by readin, cach of the |Pimbal 2 |\sqpatately , thereby Yeldirfi onveniont ruler anfle | ceprds 2D Td protect the necelermerers an \stebilizgti n| Yrs frm iaige anfilar metiers af { i Whide, which would Guise incorrect operation. 4) 1 Pritect He jndtru ments from Vibtation, tOmperatule and mafneric awivomen 842 Schuler Pandlton, rt | AS we Brn, 4 (Pendulus brtbasadeh te to the! lentve 4 the oprah. , 1 acceleration ants on she perdujus | the pndidous oe Point to the Cente | th (27th. However, it ab leon Pointed ext thet the schuley Pendihun always fomt to dhe Centre he ecard, J despite acceler motind the vehicle SAE PAT | ear mowoced on a stavimtr) White aS Aoi ie shes] Wd Ge EAL fl lat 00rd Haka I | With, the acceleratin. of @. After a moment, the Whicle is 7H fit Heper Ll ot fe Pendults is Pe eer] CT } fe [Tole =m LOMA — mLZ sindk | 412.) “Ware = moment 4 inervia; me mass ; AS shout, is Figure | — a> | = distaue between center of mass Land Fi & = Se (#22) R= the tadies of the earth. If = deo oly 4 smal] anffe | fm Fh ae ae (Mo ty (42.3) pm (423), if m4/q = Ye, the the matin 4 Pendulum isnt toletive to the nenMem tf Lt it tT) | of While. Becase | g\=mb*, Rati | | | alt tae #0 | $24) pet wiz Be; fe ZA/s = 21 hl (ae latead niga 7 _ et) = Host + loft, SinWet 42-5) where | Xe, oe respectvly viel ne ond al alle te f ea, \apeo | | | | ait) +0 | | | it meind hat the) pon dalom alwys ones 0 de mere 4 he hota, 40. the petit wil oseilaee. abact Popondicular the asclete peril is 4 min, (gee Fkmke RE sabe) | i $43 {zine pletion | I Thajine thet we have a pendulum Aanfiny in the | vebicle ehat we are malife 10 Prvide a \vertical Yeferente. But as We auclerate , the pordiliny tiles, 6 a delse vertical indication... Schuler | showed that this weil net occur with forilulw 4 86 minut Pre, and we Can he a. Empat. ann Pendidiim oithe 3 Peres} using an ardinand dccelerd motor | and @ eve We%P with the cornet. dataite/stics Covectinf an inert] sate $0 that it dees Not tit when accele bs Anon ah “Schuler| tuning” He fet |) A Siffle- axis pean bos principle Schuler tay “to maintain the aucelerineter, in @ fixed ertiwde. A single - axis platform consists of 2 Hr mounted | aaa is, Pil a 7 ao Vale eas C4 a pet dom | whith 18) Set into | the vehide in beatings, | Weim alm 1 td he antanil (Pte inbraia wold ted keep the jet ij “wld lf aclote de o> she emie none, th | ental alee al uw Mee de ae Pt etn, dies he que tit OBL a = iE of ae fre 1 oone Be Looe at HHH ry fi ps