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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <head> <title>page_204</title> <link rel="stylesheet" href="reset.css" type="text/css" media="all"> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /> </head> <body> <table summary="top nav" border="0" width="100%"> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_203.html">< previous page</a></td> <td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_204</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_205.html">next page ></a></td> </tr> <tr> <td id="ebook_page" align="left" colspan="3" style="background: #ffffff; padding: 20px;"> <table border="0" width="100%" cellpadding="0"><tr><td align="center"> <table border="0" cellpadding="2" cellspacing="0" width="100%"><tr><td align="left"></td> <td align="right"></td> </tr></table></td></tr><tr><td align="left"><p></p><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2" color="#FF0000">Page 204</font></td></tr></table><table cellpadding="0" cellspacing="0" border="0" width="100%"><tr><td height="12"></td></tr><tr><td><table cellspacing="0" width="487" cellpadding="4"><tr><td colspan="2" valign="top"><font face="Times New Roman, Times, Serif" size="2">TABLE 6.1 Definition of Notation for INS Error Equation Summary</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>N</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">w</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>ie</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> cos(</font><font face="Symbol" size="2">l</font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">North component of earth rotation rate in geographic frame</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>D</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> = -</font><font face="Symbol" size="2">w</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>ie</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> sin(</font><font face="Symbol" size="2">l</font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Vertical component of earth rotation rate in geographic frame</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="0e109baa3699831fb4ae68a8f149a194.gif" border="0" alt="0204-01.GIF" width="67" height="25" /></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">North component of earth relative angular rate of geographic frame</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="a3dec1edb4e426c6f45df81ef98ff5de.gif" border="0" alt="0204-02.GIF" width="75" height="26" /></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">East component of earth angular rate of geographic frame</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="52dcb626a10db59926a3fb442c75da81.gif" border="0" alt="0204-03.GIF" width="111" height="30" /></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Down component of earth angular rate of geographic frame</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">w</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>N</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>N</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">r</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>N</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">North component of inertial angular rate of geographic frame</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">w</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>E</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">r</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>E</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">East component of inertial angular rate of geographic frame</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">w</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>D</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>D</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">r</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>D</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Down component of inertial angular rate of geographic frame</font></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">destabilizing since </font><font face="Symbol" size="3"><i>d</i></font><i><font face="Times New Roman, Times, Serif" size="3">h </font></i><font face="Times New Roman, Times, Serif" size="3">> 0 causes </font><font face="Symbol" size="3"><i>d</i></font><i><font face="Times New Roman, Times, Serif" size="3">v</font><font face="Times New Roman, Times, Serif" size="1"><sub>D</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> < 0, which causes </font><font face="Symbol" size="3"><i>d</i></font><i><font face="Times New Roman, Times, Serif" size="3">h</font></i><font face="Times New Roman, Times, Serif" size="3"> to grow more positive. This fact can also be verified by a check of the eigenvalues of the overall INS F matrix in Eq. (6.54).</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3"><i>6.4.2<br />Nominal INS Error Equation Summary</i></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">For referencing convenience, in this section the differential equation error model for the nine INS error states, which was derived in the previous subsections is summarized. The summary uses notation derived from that defined in Ref. 153, which is summarized in Tables 6.1 and 6.2. In these tables, <img src="e94aa6745011b7554298c3738e248e2a.gif" border="0" alt="C0204-01.GIF" width="82" height="22" /> has been used instead of carrying the meridian and the transverse radii of curvature through the calculations.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">The dynamic equation for the linearized INS error is</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3"><img src="50bfb04a5fd06028cba0c561d28d5c7a.gif" border="0" alt="0204-04.GIF" width="332" height="19" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">where the dynamic coefficient matrix is defined to be</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3"><img src="0afae1f58a9ac8fcd9972b7d30f029d2.gif" border="0" alt="0204-05.GIF" width="483" height="277" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">where it has been assumed that <i>R</i></font><font face="Symbol" size="1"><sub>l</sub></font><font face="Times New Roman, Times, Serif" size="3"></font><font face="Symbol" size="3">禄</font><font face="Times New Roman, Times, Serif" size="3"> <i>R</i></font><i><font face="Symbol" size="1"><sub>q</sub></font></i><font face="Symbol" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"></font><font face="Symbol" size="3">禄</font><font face="Times New Roman, Times, Serif" size="3"> <i>R</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>e</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">.</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr></table><p><font size="0"></font></p>聽 </td> </tr> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_203.html">< previous page</a></td> <td id="ebook_next" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_204</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_205.html">next page ></a></td> </tr> </table> </body> </html>⌨️ 快捷键说明
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