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

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Chapter 3 / Sensors / Fins _ _ FN δ D ( δ , δ , δ , δ ) ( ) T ζ − ξ , η − ξ , − ζ − ξ , − η − ξ D ≡ D FN DU D D FN 3.10-2 DR D FN D DD FN D DL D T : = Equation 3.10-2 The actuators at the core of the fin model are treated as a closed loop analogue system avoiding the internal detail associated with high frequency controller and torque motor effects. Each fin actuator model shown in Figure 3-57 is identical with randomly varying error characteristics. 1 D_FIN Demux FIN DEMAND 1553 I/F D_FIN_1 FIN_1_D D_FIN_2 FIN_2_D D_FIN_3 FIN_3_D D_FIN_4 FIN_4_D FIN 1 DYNAMICS FIN PICKOFF 1553 I/F M_FIN_1 I_FIN_1 M_FIN_2 I_FIN_2 M_FIN_3 I_FIN_3 M_FIN_4 I_FIN_4 Figure 3-57 : Fin Actuator Model GUI 1 I_FIN The fins are locked until the missile has reached a safe aerodynamic speed to prevent missile over-rotation. Once released, the fin demand limit expands linearly with speed until Mach 1 - treated as a physical limit in the model. The measured fin deflections are re-combined for closed loop guidance and state observer purposes, AP ~ ~ ~ ~ ~ ~ ~ ~ ⎛ − FNδU − FNδD − FNδR − FNδL FN δR − ⎜ FNδL FN δU − FNδ ⎜ , , ⎝ 4 2 2 3.10.3 Fin Position Demands ~ δ : = D ⎞ ⎟ ⎠ T Equation 3.10-3 The fin demands pass through a signed 16 bit digital interface at a frequency (FNfO) of 400 Hz (clock 9). The measurements are subject to an interface range limit of 24° and a one-cycle transmission delay, exactly the same as the output interface described in §3.10.6. δ D IF TD IF IF IF ( ϕ ( ϕ ( ϕ ( , FNf O ) ) ) ) : = ϕ δ Q LIM ZOH FN D Equation 3.10-4 Application of the input interface errors is controlled by the same bits as the output interface; bits 27-30 of MS_FN_ER. The digital fin demands pass
Chapter 3 / Sensors / Fins _ _ through a phase compensation filter, followed by a 2 nd order, 50 Hz Butterworth filter prior to D-to-A conversion. D δ D AI ( ϕ ( δ , 2 ⋅ ζ ⋅ ω t , t ) ) : = ϕ + DDL D 3.10-3 FN C FN C FN C FN C Equation 3.10-5 The compensation filter characteristics are matched to the phase loss due to the time delay and 2 nd order actuator dynamics that follow, ( ζ , ω , t ) : = ( ζ , ω , t ) FN C FN 3.10.4 Fin Position Measurements C FN C FN D2L FN D2L FN TD Equation 3.10-6 Digital fin demands are converted to analogue using a 12 bit ADC subject to 3 bits of noise with a sampling rate and range matched to the input interface. Fin ADC errors are controlled by the same bits as the DAC, i.e. bits 21-24, an anti-imaging filter replacing the A/A filter, A δ D DA LIM DA D DA ( ϕ ( δ ) + ) : = ϕ ϕ Q D QN Equation 3.10-7 The analogue demands are subject to a time delay, rate limit, 2 nd order dynamics representing the output from analogue loop closure, scale factor errors and a physical limit to fin travel matched to the output interface. The analogue models are updated at the fin reference rate (FNfR) of 2 kHz. ϕ LIM A ( ϕ ( ϕ ( ϕ ( ϕ ( δ ) ) , ζ , ω ) + δ + δ ) ) SF D2L RL TD D A ~ δ : = FN D2L FN D2L FN B FN RN Equation 3.10-8 A time delay of 0.005 s is followed by an angular rate limit of 600°/s. The closed analogue loop, damping ratio (FNζD2L) is 0.6, with a natural frequency dependent on the aerodynamic loading, FN ω D2L : = ω NL + ( ω − ω ) NH FL ⋅ δ δ L ⎛ ⋅ ⎜ ⎝ P& V o, m MAX ⎞ ⎟ ⎠ 2 Equation 3.10-9 The bandwidth of the actuator under no load (FNωD2L) and full aerodynamic loading (ωFH) is 250 rad/s and 100 rad/s respectively. The maximum speed expected (VMAX) and maximum fin deflection (δL) are typically 1200 m/s
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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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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 / Accelerometer
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Page 143 and 144: Chapter 3 / Sensors / Accelerometer
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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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