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

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Chapter 3 / Sensors / NAVSTAR GPS _ _ Dierendonck (D.17) reports on 7 iterative schemes, including this one, assessing their performance in terms of accuracy, clarity, duty cycle, and memory requirements. This algorithm takes the least memory, and is average for computational speed taking 41 ms/iteration; the other algorithms considered lie in the range [13,55] ms. The navigation message contains correction coefficients for the argument of latitude, ω S + 2 ⋅ tan −1 ⎛ ⎜ ⎝ 1 + e 1 − e S S ⎛ ⋅ tan ⎜ ⎝ E 2 S ϕ 3.11-6 ⎞ ⎟ ⎠ S : = ⎞ ⎟ + C ⎠ us ⋅ sin ( 2 ⋅ ϕ ) + C ⋅ cos ( 2 ⋅ ϕ ) S uc S Equation 3.11-6 From STANAG 4294, the satellite position in the Orbital and Earth frames, ( ϕ + Ω ) ⎛ cos S S ⎜ ⎜ O P = ⋅ ( − ⋅ ( ) ) ⋅ ⎜ s : Pr, s 1 eS cos ES sin S S ⎜ ⎜ ⎜ ⎝ 0 ( ϕ + Ω ) ⎡ cosΩS −sin ΩS ⋅cosιS 0 ⎤ E Ps : = ⎢ sin S cos S cos S 0 ⎥ ⎢ Ω Ω ⋅ ι ⎥ ⋅ P ⎢⎣ 0 sin ιS 0 ⎥⎦ ⎞ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ Equation 3.11-7 Equation 3.11-8 The time taken for signals to travel between the receiver and each satellite is obtained in the receiver by auto-correlating identical satellite and receiver PRBS. The correlation time is the corrected for satellite clock bias and relativistic effects, the remainder forms the pseudorange since the correlation time includes the receiver clock bias. The navigation message provides the coefficients (a,b,c) used to correct the satellite clock bias, and the receive itself applies the relativistic correction, δ CK : = a + b ⋅ 2 ⋅ Pg, s ⋅ P& 2 c 2 2 ( t − t ) + c ⋅ ( t − t ) + 2 ⋅ P ⋅ P& c g, s REF ≡ 2 ⋅ e − S ⋅ c µ 2 G REF ⋅ P r, s ⋅ sin O s g, s g, s Equation 3.11-9 ( E ) S Equation 3.11-10
Chapter 3 / Sensors / NAVSTAR GPS _ _ The universal navigation constant (G), and the Earth mass (M) define the WGS 84 gravitational constant (µG), µ G : = G ⋅ M : = 3.11-7 3. 986005 x 10 14 Equation 3.11-11 Transmission quantisation errors and the use of 2 nd order satellite clock corrections, introduces a pseudorange error of < 0.1 m in the first 1.5 hrs after a navigation message up-link. Thereafter, the degradation reaches 90 m after 3.5 hrs, Dierendonck (D.17) . 3.11.4 Reference Pseudo-Data From Kepler’s laws, the satellite period (TS) is related to its orbital rate (ωS), T S : = 2 ⋅ π ω S : = 2 ⋅ π P µ 3 r, s G Equation 3.11-12 The satellite period is revised using the correction for the computed orbital rate (∆ωS) in the Ephemeris data. For simplicity, 24 satellites are modelled travelling in circular orbits about the Earth centre at a radius (Pr,s) of 20_183 km with an orbital speed (ωS) of 0.00833333 rad/s. The position of the j’th satellite in the i’th orbital plane is defined by the Mean Anomaly with respect to the rising node (κij), ∀ ( i , j ) : i = [ 1 ( 1 ) 6 ] ; j = [ 1 ( 1 ) 4 ] κ ij : = ω S ⋅ t m π + ⋅ 6 ( 2 ⋅ i + 3 ⋅ j − 5 ) ⇒ Equation 3.11-13 (tm) is the time after midnight General Mean Time (GMT). The position of a particular satellite in the Orbital frame, O r, s r, s ( ) T cos κ , sin , 0 P : = P ⋅ κ Equation 3.11-14 A satellite's position with respect to the Celestial frame is therefore, C s C O P : = T ⋅ P The position of the receiver with respect to the Celestial frame is, O s Equation 3.11-15
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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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Chapter 3 / Sensors / Barometric Al
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Chapter 3 / Sensors / Barometric Al
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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 _ _ of
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Chapter 6 / Missile Guidance _ _ NO
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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 _ _ 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 / Quaternion
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