Thesis - Leigh Moody.pdf - Bad Request - Cranfield University

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Chapter 3 / Inertial Navigation _ _ SDINS using single-axis sensors are simpler to manufacture and maintain and have generally replaced gimballed INS and dual-axis instruments. Although autopilot and guidance functions require a low dynamic range, typically 10 3 comparable with platform systems, for navigation and midcourse guidance a dynamic range of 10 9 is required, i.e. from 0.01 deg/hr to 400 °/s. The replacement of mechanical gimbals with SDINS software became possible once gyroscopes could be mass produced with scale factors small enough to cope with this wide dynamic range. Low scale factors are inherent in optical instruments such as Ring Laser Gyroscopes (RLG), Fibre Optical Gyroscopes (FOG) and resonating gyroscopes whose development started in the early 60’s. Optical sensors also exhibit excellent linearity, high bandwidths, insensitivity to high accelerations, and in the case of the FOG they are relatively low cost and compact. These are dominant factors in their development and rapid introduction into the aerospace environment, not the mythical Mean Time Between Failures (MTBF) which is in fact lower than for equivalent mechanical sensors due to their higher electronic content which is comparably less reliable. SDINS are particularly susceptible to rectified noise though its supports up to 80-100 Hz. This effects short-term performance, an is an error source often overlooked, and probably least understood, as it involves the local flexure environment. The reference gyroscope and accelerometer inputs are considered next in the context of master-slave TFA within a flexible structure. TFA is the calibration of a low-grade missile INS using the more accurate launcher INS velocity and attitude output to levels commensurate the structural flexure. In the absence of flexure i.e. during ground alignment, the slave INS can be levelled to an accuracy equivalent to the accelerometer biases. 3.3.1 Reference Inertial Angular Rate Figure 3-22 shows the frame of references used when determining the reference input data to two IMUs. The master IMU-1 in the launcher is referenced to point (u), and the slave IMU2 in the missile to point (m). In the description of the master-slave IMU sensor inputs some of the definitions given in §16 have been locally re-defined. The geodetic position of IMU-1 is denoted by point (d) on the Earth’s surface, shown on the same equatorial parallel plane as the Alignment frame origin at point (o) for convenience. The IMU-1 and IMU-2 are aligned with the Launcher Body frame (B) and the Missile Body frame (M) located at points (u) and (m) respectively. For aircraft, the Wing and Pylon frames (W) and (P) originate from point (n) located on the front face of the forward missile support. In the absence of low frequency wing bending and flexure (W) are coincident with (B). Pylon axes are defined relative to the wing and account for the missile dispersion angle excluding harmonisation errors (small errors due to pylon and rail manufacturing and fitting errors) and high frequency flexure. 3.3-2
Chapter 3 / Inertial Navigation _ _ ZA o YA EQUATORIAL PLANE XA ZC ; ZE r q IMU-1 d 3.3-3 YG u ZB ZG YB XB XG n ZW XC c ω E CE XW XP m YW YP XE CELESTIAL REFERENCE Figure 3-22 : Transfer Alignment Frames of Reference 3.3.1.1 IMU-1 Input Derived From External LGA Data IMU-2 Suppose that the position of point (u) is defined by 3D geodetically referenced way-points. Its geodetic velocity, acceleration and piecewise constant jerk can then be obtained at the IMU reference frequency (fR) of 800 Hz (a sub-frame interval ∆R of 1.25 ms) from cubic splines passing through the way-points. The inertial angular rate expressed in the Body frame comprises the Earth’s Siderial rate, tilt rate and the rate of rotation of the missile with respect to East-North-Up (ENU) LGA, ω B C, B B G G C, G B G, B B G G E G B ( T ⋅ ω + ω ) + : = T ⋅ ω + ω : = T ⋅ ω E C, E E, G The Earth rate and the tilt rate of (G) over the Earth are respectively, G C, G G E E C, E G, B XM Equation 3.3-1 ( ) T − λ& , µ & ⋅ cos λ , µ ⋅ sin ω : = T ⋅ ω + & λ d d d d d Equation 3.3-2
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CRANFIELD UNIVERSITY LEIGH MOODY SE
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ABSTRACT When considering advances
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Contents _ _ LIST OF CONTENTS 1 INT
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Contents _ _ 8.2 The Scope of Moder
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Contents _ _ 17.4 Inertial Velocity
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Tables _ _ LIST OF TABLES Table 1-1
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Figures _ _ LIST OF FIGURES Figure
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Figures _ _ Figure 5-1 : Centralise
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Figures _ _ Figure 19-3 : Air Densi
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Acronyms _ _ Acronyms And Abbreviat
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Acronyms _ _ HDOP - NAVSTAR GPS Hor
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Acronyms _ _ RCS - Radar Cross Sect
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Glossary _ _ GLOSSARY A challenge w
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Glossary _ _ 0.1 Predicate Calculus
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Glossary _ _ ]A,B] Real number rang
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Glossary _ _ 0.9 Matrix Operators [
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Glossary _ _ 0.14.2 Special Vectors
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Glossary _ _ P C a , b ≡ XC YC ZC
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Glossary _ _ V ≡ V : = V • V Th
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Glossary _ _ 0.16.4 Matrix Partitio
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Glossary _ _ Only the subset of qua
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Glossary _ _ 0.19 Systeme Internati
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1 Chapter 1 / Introduction _ _ Chap
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Chapter 1 / Introduction _ _ Wherea
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Chapter 1 / Introduction _ _ • Cr
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Chapter 1 / Introduction _ _ genera
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Chapter 1 / Introduction _ _ radar
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Chapter 1 / Introduction _ _ simple
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Chapter 1 / Introduction _ _ optimi
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Chapter 3 / Sensors / Radar _ _ S :
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Chapter 3 / Sensors / Radar _ _ SN
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Chapter 3 / Sensors / Radar _ _ 3.8
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Chapter 3 / Sensors / Radar _ _ 2
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Chapter 3 / Sensors / Radar _ _ ⎛
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 3 / Sensors / Seeker _ _
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Chapter 3 / Sensors / Seeker _ _ th
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Chapter 3 / Sensors / Seeker _ _ Th
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Chapter 3 / Sensors / Seeker _ _ Th
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Chapter 3 / Sensors / Fins _ _ 3.10
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Chapter 3 / Sensors / Fins _ _ thro
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Chapter 3 / Sensors / NAVSTAR GPS _
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Chapter 3 / Sensors / Helmet Mounte
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Chapter 3 / Sensors / Air Data Syst
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Chapter 4 / Target Tracking _ _ 3.1
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Chapter 4 / Target Tracking _ _ Ine
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Chapter 4 / Target Tracking _ _ ran
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Chapter 5 / Missile State Observer
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5 Chapter 5 / Missile State Observe
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6 Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ 6.
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Chapter 6 / Missile Guidance _ _ As
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ CD
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Chapter 6 / Missile Guidance _ _ ge
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Chapter 6 / Missile Guidance _ _ ex
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Chapter 6 / Missile Guidance _ _ &
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Chapter 6 / Missile Guidance _ _ PN
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Chapter 6 / Missile Guidance _ _ ra
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Chapter 6 / Missile Guidance _ _ of
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Chapter 6 / Missile Guidance _ _ NO
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Chapter 6 / Missile Guidance _ _ tr
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Chapter 6 / Missile Guidance _ _ η
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Chapter 6 / Missile Guidance _ _ Au
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Chapter 6 / Missile Guidance _ _ Fo
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Chapter 6 / Missile Guidance _ _ (
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ ar
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7 Chapter 7 / Missile Trajectory Op
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Chapter 7 / Missile Trajectory Opti
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8 Chapter 8 / Simulation _ _ Chapte
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Chapter 8 / Simulation _ _ 8.1 The
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Chapter 8 / Simulation _ _ 8.3 The
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Chapter 8 / Simulation _ _ Having p
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Chapter 8 / Simulation _ _ 8.5.1 Gl
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Chapter 8 / Simulation _ _ (1) CONS
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Chapter 8 / Simulation _ _ 8.6.2 Ou
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Chapter 8 / Simulation _ _ The file
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Chapter 8 / Simulation _ _ • The
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Chapter 8 / Simulation _ _ comprehe
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Chapter 8 / Simulation _ _ WIN_RATE
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Chapter 8 / Simulation _ _ for this
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Chapter 8 / Simulation _ _ with the
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Chapter 8 / Simulation _ _ Figure 8
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Chapter 8 / Simulation _ _ Table 8-
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Chapter 8 / Simulation _ _ 8.8 Disc
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9 Chapter 9 / Performance _ _ Chapt
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Chapter 9 / Performance _ _ 9.1 Air
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Chapter 9 / Performance _ _ XM ( >
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Chapter 9 / Performance _ _ 9.3 PN
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Chapter 9 / Performance _ _ The eff
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ 9.4 CLO
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Chapter 9 / Performance _ _ AR_BOM
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Chapter 9 / Performance Chapter 9 /
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Initially the position error falls
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values of CN are not always a relia
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crude initialisation introduces err
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9.5.3 Singer Filter Tuning The Sing
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9.6.2 CLOS Study The CLOS study sho
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Chapter 10 / Conclusions _ _ 10-2
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Chapter 10 / Conclusions _ _ 10.3 T
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Chapter 10 / Conclusions _ _ 10.7 M
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Chapter 11 / Future Research _ _ 11
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Chapter 11 / Future Research _ _
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Chapter 11 / Future Research _ _ To
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References _ _ B.4 BAZARAA M.S., SH
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References _ _ F.1 FOX J.E., “A C
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References _ _ H.5 #HULL D.G., RADK
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References _ _ L.2 LOOZE D.P., HSU
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References _ _ N.4 NABAA N., BISHOP
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References _ _ R.3 RUSNACK I., “O
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References _ _ S.15 SINGER R.A.,
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References _ _ Y.2 YUAN P., CHERN J
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Bibliography _ _ B.13 BABA Y., YAMA
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Bibliography _ _ B.40 BECKER J.C.,
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Bibliography _ _ C.33 CORTINA E., O
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Bibliography _ _ E.8 ERSHOV A.A.,
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Bibliography _ _ G.34 GUTMAN P., VE
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Bibliography _ _ H.35 HUSSAIN A.M.,
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Bibliography _ _ K.14 KATZIR S., CL
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Bibliography _ _ L.19 LEFAS C.C,
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Bibliography _ _ M.16 MAYNE D.Q., P
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Bibliography _ _ P.1 PAINTER J.H.,
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Bibliography _ _ R.32 RONG LI X., Z
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Bibliography _ _ S.47 SPEYER J.L.,
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Bibliography _ _ V.5 VIAN J.L., MOO
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Bibliography _ _ W.29 WATSON G.A.,
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Appendix A / Geometric Points _ _ 1
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Appendix A / Geometric Points _ _ 1
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Appendix B / Frames of Reference _
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Appendix C / Axis Transforms _ _ 16
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Appendix C / Axis Transforms _ _ YP
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _ YB
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Appendix C / Axis Transforms _ _ Us
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Appendix C / Axis Transforms _ _ No
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _
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Appendix D / Point Mass Dynamics _
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Appendix E / Earth Geometry _ _ 18-
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Appendix E / Earth Geometry _ _ ELL
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Appendix E / Earth Geometry _ _ (dx
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Appendix E / Earth Geometry _ _ Int
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Appendix E / Earth Geometry _ _ 18.
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Appendix E / Earth Geometry _ _ 19-
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Appendix E / Earth Geometry _ _ P S
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Appendix E / Earth Geometry _ _ 19.
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Appendix E / Earth Geometry _ _ ∂
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Appendix G / Gravity _ _ 20-2
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Appendix G / Gravity _ _ g : = g +
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Appendix G / Gravity _ _ d −6 2
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Appendix G / Gravity _ _ 20-8
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Appendix H / Steady State Tracking
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Appendix I / Utilities _ _ 22.1-2
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Appendix I / Utilities _ _ Cartesia
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Appendix I / Utilities _ _ Matrix P
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Appendix I / Utilities _ _ 22.1-8
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Appendix I / Utilities / General Ut
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Appendix I / Utilities / WGS 84 Tar
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Appendix I / Utilities / Point Mass
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Appendix I / Utilities / Earth, Atm
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Appendix I / Utilities / Digital Ma
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Appendix I / Utilities / Digital Fi
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Appendix I / Utilities / Matrices _
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Appendix I / Utilities / Quaternion
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