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

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Chapter 3 / Sensors / Helmet Mounted Sight _ _ pointing errors due to the relative motion between head and helmet. A speculative alternative (not mentioned in pilot earshot) is the surgical implant of sensors in the muscles responsible for controlling the position of the eyeball. Time is needed for this technology to mature on deployed systems and to assess its impact on combat tactics and the presentation of data on the visor. The HMS model shown in Figure 3-61 is placed in the context of a surfaceto-air targeting rather than the usual aircraft role and hence the angular measurements are defined with respect to the Alignment frame which is also the origin of the target tracking radar. 1 2 REFERENCE INPUT HMS ERROR MODEL THT_AT PSI_AT GUI M_THT_AH M_PSI_AH 3.12-2 HMS ELEVATION 1553 I/F M_THT_AH I_THT_AH M_PSI_AH I_PSI_AH HMS BEARING 1553 I/F E_THT_AH 4 1 2 3 E_PSI_AH Figure 3-61 : HMS Sensor Model Head box restrictions have been ignored and measurements are provided subject only to residual canopy distortion independent of head position. The error model provided is flexible enough to deal with both IR and magnetic trackers, night and day, monocular and binocular systems. 3.12.3 Reference Target Angles For air launched applications the reference target angles are measured with respect to the Aircraft body axes. For ground based, surface-to-air, applications they are measured with respect to the Alignment frame, Z ≡ ( ) ⎟ ⎛ ⎛ YA ⎞ ⎛ ZA ⎞ ⎞ T T ⎜ −1 P −1 Ψ Θ = ⎜ t P ⎟ − ⎜ t , : tan , tan ⎟ A A ⎜ ⎝ ⎜ ⎝ P XA t This data is provided at a reference frequency (HSfR) of 400 Hz. 3.12.4 Measured Target Angles ⎟ ⎠ ⎜ ⎝ P hA t ⎟ ⎠ ⎠ Equation 3.12-1 The data for the HMS error model has been taken from the public domain, most of it supplied by H. Waruszewski (Lockheed Martin F-22 HMS system
Chapter 3 / Sensors / Helmet Mounted Sight _ _ manager). The following assumptions were made when setting the default error parameters: • A monocular daytime sight is used. • The head remains in the head box so that measurements are always valid. • The eye, head and helmet act as a single unit without slippage. This is true only when the visor reticule is close to the target. Although helmet slippage is expected whilst the head is in motion, and when subject to heavy vibration, the helmet returns to its original position once the dynamic conditions moderate. • Residual canopy distortion is independent of helmet position in the head box and target position. • The system has just been calibrated. The injection of independently selectable errors is controlled by the bit pattern of GB_HS_ER. The reference angles are corrupted at the reference rate by a time delay, an angular rate limit, and 2 nd order dynamics associated with the human physiology and helmet slippage. Z ~ : = ϕ SF ( ϕ ( ϕ ( ϕ ( Z ) ) ) + ϕ + ϕ + ϕ ) D2L RL 3.12-3 TD CB RN MB1 Equation 3.12-2 A time delay of 0.08 s is followed by an angular rate limit of 200°/s, and a 2 nd order lag with a damping ratio of 0.7 and a natural frequency of 4 Hz, default values that apply to both axes. Constant bias, random noise and a random walk are superimposed on the filtered measurements representing the effect of stray magnetic fields on the helmet tracker and changes in canopy distortion. The constant bias is initialised from a Gaussian distribution with a deviation of 0.008 rad comprising: • Helmet tracking : Electro-Optical static accuracy (2 – 10) mrad • Helmet tracking : Resolution (1 – 2) mrad • Residual optical distortion from canopy (5 – 8) mrad • Boresight misalignment (2 – 6) mrad • Residual magnetic distortion (2 – 6) mrad • Reticule symbol line width and dimensional stability (1 – 2) mrad The Gaussian noise has a PSD of 0.005 mrad 2 /Hz at the reference frequency, equivalent to 0.5 mrad @ 50 Hz. The random walk output deviation is 9 mrad with a correlation time of 200 s (chosen arbitrarily for test purposes) although it could be much larger in magnetic tracking systems where the build up of stray magnetic fields is the dominant effect. The constant, quadratic and asymmetric scale factor deviations are 0.03, 0.01 and 0.01 respectively for both measurements.
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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 / Barometric Al
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Chapter 3 / Sensors / Barometric Al
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Chapter 3 / Sensors / Radar Altimet
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Chapter 3 / Sensors / Radar _ _ 3.8
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Chapter 3 / Sensors / Radar _ _ LF
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Chapter 3 / Sensors / Radar _ _ ( )
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Chapter 3 / Sensors / Radar _ _ 3.8
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Chapter 3 / Sensors / Radar _ _ S :
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Chapter 5 / Missile State Observer
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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 _ _ η
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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 / Matrices _
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Appendix I / Utilities / Quaternion
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