Coordinate Frames and Transformations
Coordinate Frames
Inertial Frame
Earth-Centered-Earth-Fixed Frame
Navigation Frame
Transformations
Direction Cosines
Euler Angles
Quaternions
Axial Vectors
Angular Rates
Differential Equation of the Transformation
Specific Coordinate Transformations
Fourier Transforms
Ordinary Differential Equations
Linear Differential Equations
General Solution of Linear Differential Equations
Homogeneous Solution
An Example
Fundamental Set of Solutions
Particular Solution
The Example, Continued
Numerical Methods
Runge-Kutta Methods
Numerical Integration of Functions
Inertial Measurement Units
Gyroscopes
Mechanical Gyroscopes
SDF Gyro
Principal Error Terms
TDF Gyro
Optical Gyroscopes
Ring Laser Gyro
RLG Error Sources
Fiber-Optic Gyro
FOG Error Sources
Accelerometer
Accelerations in Non-Intertial Frames
Force-Rebalance Dynamics
Pendulous Accelerometer Examples
Vibrating Element Dynamics
Error Sources
Intertial Navigation System
Mechanizations
Space-Stabilized Mechanization
Local-Level Mechanization
Schuler Tuning
Wander Azimuth Mechanization
Strapdown Mechanization
Numerical Determination of the Transformation Matrix
A Second-Order Algorithm
A Third-Order Algorithm
Specializations
Navigation Equations
Unified Approach
Navigation Equations in i-Frame
Navigation Equations in e-Frame
Navigation Equations in n-Frame.