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

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Chapter 4 / Target Tracking _ _ Expanding and expressing in terms of cosine and sine series, ⎛ ⎜ 1 ⎜ ⎜ ⎜ 0 ⎜ ⎜ ⎝ 0 , , , sin − ω iA iA iA iA ( ω ⋅ ∆t ) ω , ( 1 − sin ( ω ⋅ ∆t ) ) ( ω ) cos iA A, TV A, TV iA iA ( ω ⋅ ∆t ) , sin ( ω ⋅ ∆t ) ⋅ sin A, TV ( ) ( ) ⎟ ⎟⎟⎟⎟⎟⎟ iA iA ω ⋅ ∆t , cos ω ⋅ ∆t A, TV A, TV 4-20 W Φ i : = A, TV A, TV A, TV A, TV Equation 4.5-24 These dynamics were used by Vorley [V.3] to derive the weave tuned filters presented in §21.5, and by Nabbaa [N.4] when comparing constant and variable speed co-ordinated turning models. The state observer provides an estimation of the weave frequency, ω A A, TV : = P& × &P & A t A t P& 2 o, t 0. 16 Equation 4.5-25 For the IMM a lower limit of 0.025 Hz is placed on the weave frequency estimate, first to avoid numerical problems, and also to prevent asymptotic reduction to an acceleration filter. The weave frequency accuracy requirements for CLOS guidance are explored in §6. 4.6 IMM Filter Measurement Updates Target range, range rate and angle measurements from a phased array radar stimulate each filter in the IMM, RD Z ~ T ( ) T ~ ~ XT XT ~ T ~ T Pt , Pt , ΨA , ΘA : = & 2 Equation 4.6-1 The estimated target measurements are (kinematic type is clear in context), ⎛ ⎜ ⎜ ⎝ P A t • P A t , A Pt • P& P o, t A t , RD Z T tan −1 : = ⎛ ⎜ ⎝ P P YA t XA t ⎞ ⎟ ⎠ , − tan −1 ⎛ ⎜ ⎝ P P ZA t hA t ⎞ ⎞ ⎟ ⎟ ⎟ ⎠ ⎟ ⎠ T Equation 4.6-2 The linearised measurement matrix with respect to the IMM states at the measurement reference time, ⎞ ⎠
Chapter 5 / Missile State Observer _ _ RD H TL ≡ ∂ ∂ RD IMM Z X T TL : = ⎛ ⎜ ⎝ The range measurement Jacobian, ∂ P XT t ∂ X TL ∂ P ∂ X : = 4-21 XT t The target bearing measurement Jacobian, ∂ Ψ T A TL ⎛ ⎜ ⎝ TL , ∂ P& ∂ X XT t TL , ∂ Ψ ∂ X T A TL A T T ( P ) ⎞ t Po, t , 06 ⎟ ⎠ hA −2 YA XA T ( P ) ⋅ ( P , P , 0 ) ∂ X : = − The target elevation measurement Jacobian, ∂ Θ T A ∂ X TL : = ⎛ ⎜ P ⎜ ⎝ P XA t hA t t ⋅ Pt ⋅ P ZA 2 o, t The range-rate measurement Jacobian, ∂ P& XT t ∂ X TL : = ⎛ ⎜ ⎜ ⎝ , P t YA t hA t P ⋅ P ⋅ P ZA t 2 o, t , t Pt − P A T XT A T ( P& t ) P& t ⋅ ( Pt ) A − , ( P ) o, t The measurement covariance, RD R : = T P diag P 2 o, t t hA 2 o, t T , ∂ Θ ∂ X T A TL ⎞ ⎟ ⎠ T Equation 4.6-3 Equation 4.6-4 7 Equation 4.6-5 , 0 T 6 ⎞ ⎟ ⎟ ⎠ Equation 4.6-6 P o, t 2 2 2 2 ( 10 , 4 , 0. 003 , 0. 003 ) , 0 T 3 ⎞ ⎟ ⎟ ⎠ Equation 4.6-7 Equation 4.6-8 Frequency agility reduces any time dependent error correlation so each measurement can be considered as independent. Phased array radar generally maintain a near-constant SNR which means the measurement errors are independent of range and can be treated as constants rather than functions of the radar SNR. 4.7 IMM Initialisation Assuming that target-tracking starts at long-range and is quiescent, the individual filter weights are biased towards the constant velocity filter,
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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 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 _ _ S :
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Chapter 3 / Sensors / Radar _ _ SN
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Chapter 3 / Sensors / Radar _ _ 2
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Chapter 3 / Sensors / Radar _ _ ⎛
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 3 / Sensors / Seeker _ _ 5
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Chapter 3 / Sensors / Seeker _ _
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Chapter 3 / Sensors / Seeker _ _ th
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Chapter 3 / Sensors / Seeker _ _ Th
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Chapter 3 / Sensors / Seeker _ _ Th
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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 / NAVSTAR GPS _
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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 _ _ 6.
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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 / 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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