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Appendix I / Utilities / Covariance
_ _
22.13.5 Yaw Angle Uncertainty
XT ( δP ) : = CV_VX_BAB ( X , C , 9 )
&
E t
SO TL SO TLL
22.13-6
Equation 22.13-18
XM ( δP ) : = CV_VX_BAB ( X , C , 9 )
&
E m
SO ML SO MLL
CV_PSI_AB returns the yaw angle uncertainty of frame (B).
T
Equation 22.13-19
B
B
2 ⎛ ⎞
A A T ⎛ ⎞
B
A
A 2 B
( ) : ⎜
∂ Ψ
E P ( P ) ⎞ ⎜
∂ Ψ
δ Ψ = ⎟ ⋅
⎛
⎜ δ ⋅ δ ⎟ ⋅ ⎟ ⋅ c
E A
A
b b
Θ
⎜
A
P ⎟
⎜
b
P ⎟
⎝ ∂ ⎠ ⎝
⎠ ⎝ ∂ b ⎠
hA
b
a,
b
B
A
B
A
P ⋅ P ⋅ cos Θ ⋅ ∂ Ψ ∂ P : = −
The target and missile azimuth angle uncertainties,
22.13.6 Pitch Angle Uncertainty
A
b
A
Equation 22.13-20
( ) T
YA XA
P , P , 0
T ( δ Ψ ) : = CV_PSI_AB ( X , C , 9 )
E A
SO TL SO TLL
M ( δ Ψ ) : = CV_PSI_AB ( X , C , 9 )
E A
SO ML SO MLL
CV_THT_AB returns the pitch angle uncertainty of frame (B).
2
a,
b
E
b
b
Equation 22.13-21
Equation 22.13-22
Equation 22.13-23
( ) ( ) ⎟ ⎛ B ⎞
⎛ B ⎞
B 2
⎜
∂ Θ ⎛
T
A ⎟
A A ⎞ ⎜
∂ ΘA
Θ : =
⋅ E ⎜ δP
⋅ δP
⎟ ⋅
δ A
A
b b
A
∂ P ⎝
⎠
b
∂ Pb
B
A
A
b
⎜
⎝
⎟
⎠
T
⎜
⎝
Equation 22.13-24
( ) T
XA ZA hA YA ZA hA
hA
P ⋅ P P , P ⋅ P P , P
P ⋅ ∂ Θ ∂ P =
−
The target and missile elevation uncertainties,
b
b
b
T ( δ Θ ) : = CV_THT_AB ( X , C , 9 )
E A
SO TL SO TLL
b
b
b
Equation 22.13-25
Equation 22.13-26
⎠
b