Vector Principles of Inertial Navigation

Abstract

A vector equation, which is derived from first principles, describes the mechanization of inertial navigation systems for use anywhere in space. A specialized form of this equation applies directly to three-dimensional motion at any speed, any altitude, over an elliptical, rotating earth. The usefulness of this equation is illustrated by working out an example of a system design. Behavior of errors in inertial systems is also discussed.