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By Farrell, Jay
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Extra resources for Aided Navigation
Therefore, this book focuses on GPS aided systems to allow a thorough presentation and exempliﬁcation of system design and analysis without getting bogged down in the speciﬁc details of the many diﬀerent possible aiding sensors. The next section presents a very simple example of the navigation system design and analysis methodology that is used throughout this text. This section is intended to serve as a motivation for the various theoretical issues that will be considered in Part I of this text.
This point is the origin of the local frame. The x-axis points to true north. The z-axis points toward the interior of the Earth, perpendicular to the reference ellipsoid. The y-axis completes the right-handed coordinate system, pointing east. For a stationary system, located at the origin of the tangent frame, the geographic and tangent plane frames coincide. When a system is in motion, the tangent plane origin is ﬁxed, while the geographic frame origin is the projection of the platform origin onto the reference ellipsoid of the Earth.
The body frame is not an inertial frame-of-reference. 2. 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.
Aided Navigation by Farrell, Jay