Fundamentals of High Accuracy Inertial Navigation (Hardcover)

Part 1 Inertial Navigation: Notation, Coordinate Systems and Units; Equations of Motion in a Central Force Gravity Field; Inertial Instrumentation; Calibration; Initial Alignment and Attitude Computation; Geodetic Variables and Constants; Equations of Motion with General Gravity Model. Part 2 Inertial Navigation with Aids: Inertial Navigation with External Measurements; Error Equations for the Kalman Filter; State Variable Error Models. Part 3 Accuracy Analysis: Accuracy Criteria and Analysis Techniques; Error Equations for Calibration, Alignment and Initialization; Evaluation of Gravity Model Error Effects. Appendices: Matrix Inverse Formulas; LaPlace Transforms; Quaternions; Associated Legendre Functions; Associated Legendre Function Derivatives; Procedure for Generating Gravity Disturbance Realizations; Procedure for Generating Specific Force Profile.