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

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Chapter 3 / Sensors / Seeker _ _ The gimbals support a detector that provides range, range rate, and angular measurements depending on model characterisation for a single target using a single transmission frequency. The target position with respect to the detector is combined with the measured gimbal positions to give the target data with respect to the Missile Body frame. The seeker is inertially de-coupled from missile body motion using state observer demands to the gimbal torquers rather than dedicated gyroscopic devices. This is a critical function since it limits the homing accuracy of the missile, Nesline [N.7] . Imperfect de-coupling due to seeker errors correlated with IMU outputs excites parasitic loops through the LF state observer demands, a subject dealt with in more detail in §6.6.3. When stabilisation is provided locally parasitic errors are a function of the gyroscope angular body rates, whereas in systems employing data fusion they dependent on all the sensors, in particular the accelerometers. The closed loop flow of parasitic disturbances in the LF and HF models used for the seeker and ground radar is shown in Figure 3-48 and Figure 3-49 respectively. In the LF model the errors are imposed on the demands serially, the HF feedback having been reduced to a simple transfer function with input limiting. LF FF DEMANDS LF CLOSED LOOP DYNAMICS DETECTOR ANGLES 3.9-4 GIMBAL PICKOFF MEASURED TARGET ANGLES TO FF Figure 3-48 : LF Detector Pointing Loop LF FF DEMANDS HF DEMAND FILTERS TORQUER & GIMBAL DYNAMICS DETECTOR ANGLES GIMBAL PICKOFF MEASURED TARGET ANGLES TO FF Figure 3-49 : HF Detector Pointing Loop In the HF model the internally closed loop error model includes gimbal control, torquer, and gimbal pick-offs. Both models are provided, the HF model for studying the effect of parasitic errors, and the LF model for system studies assuming that parasitic errors can be ignored.
Chapter 3 / Sensors / Seeker _ _ 3.9.3 State Observer Gimbal Demand Processing The detector is initially locked with its boresight along the longitudinal axis of the missile. After launch the seeker is provided with LF gimbal demands at the seeker output interface rate (SKfO) of 400 Hz (clock 9), from one of the following sources depending on the value of SK_SK_DS: • 1 Zero with respect to the missile boresight for strap-down applications • 2 Reference target position with respect to the Missile Body frame • 3 Seeker measurements • 4 Missile state observer If the gimbal demands are set to zero they are treated as RF phased array beam pointing commands with respect to the locked-down detector. When the gimbals are free the RF beam is formed along the detector boresight. For convenience, the Euler angles and angular rates associated with the gimbals are collected together, SK G ( ) ( ) T H H T H H Ψ , Θ ; Z& ≡ Ψ& , & Z ≡ Θ B B 3.9-5 SK G B B Equation 3.9-1 If LF gimbal demands are used directly in high bandwidth sensors the seeker head jitter for IR staring arrays is unacceptable. This causes the returning energy to be smeared across the detector pixels during a stare time lasting several milliseconds reducing the acquisition range. To prevent this, LF demands are processed at 400 Hz using First-Order-Hold (FOH) filters, D 400 ( 4 ) ( 1 ) T ⎞ S ( T ( 7 ) ) ⎟ + N ( 0 , ) ⎛ S 1 TB 1 ZG : ⎜ − ⎛ ⎞ − = tan ⎜ ⎟ , − sin S B SKσ ⎜ ⎜ T ⎟ ⎟ ⎝ ⎝ B ⎠ ⎠ S B S A T : = T ⋅ [ ] T B T A GA Equation 3.9-2 Equation 3.9-3 (σGA) represents the physical misalignment of the seeker with respect to the Missile Body frame. This error is constant and is selected from a zero-mean Gaussian error with a deviation of 1 mrad. The Euler rate demands are obtained from the missile body referenced target LOS rate, D 400 G YS ZS S ( ω , ω ⋅ sec ) Z& : = Θ B, S B, S B Equation 3.9-4
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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 _ _
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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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Chapter 3 / Sensors _ _ Reference D
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Chapter 3 / Sensors _ _ 3.2-9 s s i
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Chapter 3 / Sensors _ _ 3.2-11 t o
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Chapter 3 / Sensors _ _ Figure 3-5
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Chapter 3 / Sensors _ _ Table 3-7 :
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Chapter 3 / Sensors _ _ IF ϕ LIM
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Chapter 3 / Sensors _ _ The phase e
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Chapter 3 / Sensors _ _ Taking expe
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Chapter 3 / Sensors _ _ Expressing
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Chapter 3 / Sensors _ _ INPUT; AA,
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Chapter 3 / Sensors _ _ The functio
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Chapter 3 / Inertial Navigation _ _
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Chapter 3 / Sensors / Gyroscopes _
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Chapter 3 / Sensors / Gyroscopes _
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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 / Matrices _
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Appendix I / Utilities / Quaternion
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Thesis - Leigh Moody.pdf - Bad Request - Cranfield University

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