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

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Chapter 3 / Sensors / Accelerometers _ _ ~ f I r, u : = ϕ SF ⎛ ⎜ f ⎝ I r, u + AC B I 3.5-6 ⎛ J + ⎜ ⎝ X − JY − J m ⋅ L CG Z ⎞ ⎟ ⋅ ω ⎠ I C, B ⋅ ω P C, B ⎞ ⎟ ⎠ Equation 3.5-7 The product of the pendulum mass (m), and the moment arm from the hinge line to the mass centre (LCG), is known as its pendulocity (ACP). Relating the inertia of the pendulum assembly about the (I,H,P) axes when perfectly re-balanced to the inertia about a set of (X,Y,Z) axes attached to the pendulum itself, γ 2 ( J J J ) : = ( J J + m L J ) = 0 ⇒ ⋅ I H P X Y CG Z Equation 3.5-8 The inertia about the Hinge axis (JY) applies to torques caused by angular acceleration about this axis. Angular acceleration induced errors can be minimising by careful design leaving only bias (ACBCB), aniso-inertial and scale factor errors. These errors are controlled by the bit pattern of MS_AC_ER listed in Table 3-12. Bits 22-23, reserved in Table 3-6 for ADC errors, are replaced by PWM errors. The anti-aliasing filter and quantised noise associated with the ADC that are controlled by bits 21 and 24, are not applicable. Table 3-12 : Accelerometer Triad Errors MS_AC_ER Sensor Error Source 17 Aniso-inertial bias 18 G 2 -dependent bias 19 Digital compensation filter 22 Pulse count range limit 23 Pulse quantisation The specific acceleration is corrupted at the reference rate by a time delay and 2 nd order dynamics, D B r, u TD U ( ϕ ( f , ζ , ) , t ) f : = ϕ ω D2L r, u AC D2L AC D2L AC TD Equation 3.5-9 The output of the 2 nd order dynamics determines the cross coupling error, AC PM AC U r, u G ⋅ γ : = f − ϕ D2L U ( f ) r, u Equation 3.5-10 Although a time delay is not included in the Savage and IEEE models delays exist in the forcer and internal digital processor. The dynamic output
Chapter 3 / Sensors / Accelerometers _ _ is subject to a constant bias, random noise, acceleration sensitive biases (ACBG), and scale factor errors, ϕ SF D B ( f + ϕ ( σ ) + ϕ ( σ ) + B + B ) r, u CB AC CB A 3.5-7 ~ f B r, u RN : = AC RN AC ωω AC G Equation 3.5-11 In pendulous accelerometers the constant bias is caused by pick-off offset and residual spring torque in the pivots about the hinge line. Noise is caused by rapidly fluctuating instabilities in the assembly and under-damped rectified inputs. Scale factor errors are restricted to the forcer electronics and variations in magnetic field strength due to thermal sensitivity. These are made as small as possible by designing a “stiff” system in which the pendulum rotation is minimised. Noise is often specified in (µg/√Hz) referenced to the sensor output rate. From §3.2.2.2, AC σ RN : = 10 ⋅ The following aniso-inertial bias model is provided, AC 10 AC 6 Φ ⋅ RN AC [ AWM ] ⊗ [ B ] f ⋅ O AC ( ) ( ) T B B ⋅ ω ⋅ B : = ω ωω AW f R C, B Equation 3.5-12 C, B Equation 3.5-13 As in the gyroscope model, modularity is improved by using the inertial angular rate and accelerations referenced to the Missile Body axes instead of sensor specific axes. The mask for the configuration selected is, [ B ] AW [ AWM ] : = ⎛ ⎜ ⎜ ⎜ ⎝ AW AW : = 0 B B P YX Y ZX ⎛ ⎜ ⎜ ⎜ ⎝ 0 1 −1 AW AW B 0 B 0 0 0 R XY Y ZY 1 0 0 ⎞ ⎟ ⎟ ⎟ ⎠ AW AW B B 0 R XZ P YZ Equation 3.5-14 ⎞ ⎟ ⎟ ⎟ ⎠ Equation 3.5-15 The g 2 -dependent biases are stimulated by accelerations acting along the (I,H,P) axes according to,
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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 1 / Introduction _ _ 1.3.9
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2 Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ 2.
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Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ t
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Chapter 2 / Target Modelling _ _ P&
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Chapter 2 / Target Modelling _ _ GO
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Chapter 2 / Target Modelling _ _ th
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Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ VX
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Chapter 2 / Target Modelling _ _ ma
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3 Chapter 3 / Sensors _ _ Chapter 3
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Chapter 3 / Sensors _ _ 3.1 Simulat
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Chapter 3 / Sensors _ _ Table 3-4 :
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Page 111 and 112: Chapter 3 / Sensors _ _ The functio
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Page 161 and 162: Chapter 3 / Sensors / Radar _ _ ( )
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Page 167 and 168: Chapter 3 / Sensors / Radar _ _ SN
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Page 173 and 174: Chapter 3 / Sensors / Radar _ _ ⎛
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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 / 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 / Axis Trans
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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 / 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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Appendix I / Utilities / Trigonomet
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Appendix I / Utilities / Vectors _
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Appendix I / Utilities / Covariance
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