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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_203</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_202.html">< previous page</a></td> <td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_203</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_204.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 203</font></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="a2a0a2fd52976541bc9539b21e0e0c3b.gif" border="0" alt="0203-01.GIF" width="410" height="23" /></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="d872501c185f3e83fcb3bb1627fc9260.gif" border="0" alt="0203-02.GIF" width="408" height="26" /></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="251dff974dabb67f770eb2c1b22892d6.gif" border="0" alt="0203-03.GIF" width="407" height="25" /></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">to the first order. The accelerometer measurement errors (represented by </font><font face="Symbol" size="3"><i>d</i></font><font face="Times New Roman, Times, Serif" size="3">f</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>p</i></sup></font><font face="Times New Roman, Times, Serif" size="3">) and gravitation computation errors (represented by </font><font face="Symbol" size="3"><i>d</i></font><font face="Times New Roman, Times, Serif" size="3">g</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>n</i></sup></font><font face="Times New Roman, Times, Serif" size="3">) are discussed in Sec. 6.5.1 and 6.6, respectively. The linearized velocity error equation corresponding to Eq. (6.81) 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="d5a8feb72eb75598fefa2d518a5ac782.gif" border="0" alt="0203-04.GIF" width="446" height="24" /></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">In vector form, the error equations for the tangent-plane INS are</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="627dd593b0d626d732da98471fe51098.gif" border="0" alt="0203-05.GIF" width="747" height="516" /></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 fact that Pf</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>n</i></sup></font><font face="Times New Roman, Times, Serif" size="3"> = -f</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>n</i></sup></font><font face="Times New Roman, Times, Serif" size="3"> 脳 </font><font face="Symbol" size="3"><i>r</i></font><font face="Times New Roman, Times, Serif" size="3"> has been used. These equations specify F</font><font face="Times New Roman, Times, Serif" size="1"><sub>v</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><sub><font face="Symbol" size="1">r</font></sub><font face="Symbol" size="1"></font><font face="Times New Roman, Times, Serif" size="3">, F</font><font face="Times New Roman, Times, Serif" size="1"><sub>vp</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">, and F</font><font face="Times New Roman, Times, Serif" size="1"><sub>vv</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">.</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">Note that F</font><font face="Times New Roman, Times, Serif" size="1"><sub>vp</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> includes, for completeness, a term for vertical velocity dependence on altitude where <img src="568540351b4804f24ecc528637df77b8.gif" border="0" alt="C0203-01.GIF" width="40" height="19" /><i>R</i> is the distance from the center of the earth. This term has not yet been motivated. This term is due to the altitude dependence of gravity from Eq. (6.146). This term is included at this point to remove the need for a redefinition of F</font><font face="Times New Roman, Times, Serif" size="1"><sub>vp</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> later in the chapter. Note that this term is</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_202.html">< previous page</a></td> <td id="ebook_next" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_203</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_204.html">next page ></a></td> </tr> </table> </body> </html>⌨️ 快捷键说明
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