By Farrell, Jay
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Extra resources for Aided Navigation
7 27 Platform Frame This book will only discuss applications where the sensors are rigidly attached to the vehicle. For inertial navigation, such systems are referred to as strap-down systems. Although the sensor platform is rigidly attached to the vehicle, for various reasons the origin of the platform frame may be oﬀset or rotated with respect to the origin of the body frame. The origin of the platform coordinate frame is at an arbitrary point on the platform. The platform frame axes are deﬁned to be mutually orthogonal and righthanded, but their speciﬁc directions are application dependent.
The GPS system is discussed in a chapter of its own. GPS is currently the dominant aiding system for outdoor applications. GPS will be used as the aiding system in two of the subsequent chapters of Part II. Each aided navigation system in Part II will be presented and analyzed using a consistent methodology and notation. In each case, the chapter will present a complete kinematic model with suﬃciently detailed sensor error models to allow the reader to extend that portion of the model to ﬁt the circumstances of their own application.
3 discusses the transformation between the two types of coordinates. 3. 6: ECEF rectangular coordinate system. 1 ECEF Rectangular Coordinates The usual rectangular coordinate system [x, y, z]e , herein referred to as the ECEF coordinate system, has its origin at the Earth’s center of mass with its x-axis extend through the intersection of the prime meridian (0 deg longitude) and the equator (0 deg latitude). , coincident with the Earth spin axis). 6. 2 The Earth Geoid and Gravity Model The following sections brieﬂy discuss the need for and deﬁnition of the Earth geoid and the gravity model relative to this geoid.