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Инерциальная навигация
.pdf![](/html/2706/30/html_lwwQTz3dT1.zR9I/htmlconvd-yx3PeJ91x1.jpg)
RR2 RR1 = RR! |
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R = R1 + R2' |
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BB ◦ RR = RR ◦ BB! |
R = B ◦ R ◦ B¯ ' |
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RR |
◦ |
BB = BB |
◦ |
RR ! |
R = B−1 |
◦ |
R |
◦ |
B¯ −1' |
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BB2 ◦ BB1 = BB! |
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B = B2 ◦ B1' |
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AA ◦ RR = RR ◦ BB ◦ AA ! |
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R = (R−1 + A)˜ −1! |
A = (A−1 + R)˜ −1! |
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eiϑ/2 = √ |
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B = eα/2eψ/2 |
◦ |
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1 + Ψ |
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◦ |
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1 + iΘ |
! |
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γ |
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1 − Ψ2 |
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1 − (iΘ)2 |
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γ = eα = [1 + 2(a0r0 − a · r ) + (a02 − a 2)(r02 − r 2)]−1! |
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(r0a − a0r )(1 + a0r0 |
− a · r ) − (r0a − a0r ) × (a × r ) |
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Ψ |
= th |
ψ |
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2 |
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1 + 2(a0r0 − a · r ) + (a02 − a 2)(r02 − r 2) + (r0a − a0r )2 ! |
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a × r |
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Θ |
= tg |
ϑ |
= |
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' |
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2 1 + a0r0 − a · r |
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RR ◦ AA = AA ◦ BB ◦ RR ! |
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A = (A−1 + R)˜ −1! |
R = (R−1 + A)˜ −1! |
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eiϑ/2 = √ |
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B = eα/2eψ/2 |
◦ |
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1 + Ψ |
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◦ |
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1 + iΘ |
! |
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γ |
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1 − Ψ2 |
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1 − (iΘ)2 |
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γ = eα = 1 + 2(r0a0 − r · a) + (r02 − r 2)(a02 − a 2)! |
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(a0r − r0a)(1 + r0a0 |
− r · a) − (a0r − r0a) × (r × a) |
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Ψ |
= th |
ψ |
= |
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2 |
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1 + 2(r0a0 − r · a) + (r02 − r 2)(a02 − a 2) + (a0r − r0a)2 ! |
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r × a |
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Θ |
= tg |
ϑ |
= |
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' |
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2 1 + r0a0 − r · a |
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% ,
% ,
% ,
%*,
%+,
%Q,
AA ◦ BB
BB ◦ AA
AA2 AA1
= BB ◦ AA ! |
A = B˜ ◦ |
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= AA |
◦ |
BB! |
A = B˜ −1 |
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= AA! A = A1 + A2'
˜ |
' |
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¯ |
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A ◦ B |
˜ |
− |
1' |
◦ A ◦ B¯ |
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%(,
%L,
%K,
C 2 %+, %Q, /
/2 !
/ ; '
![](/html/2706/30/html_lwwQTz3dT1.zR9I/htmlconvd-yx3PeJ92x1.jpg)
; / / γ! Ψ Θ! / 2
%+, %Q,! / / / * / R A
! 3 /
/ .3 !
@
2 |
− r |
2 |
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˜ ˜ |
! |
2 |
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a |
2 |
˜ |
˜ |
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r0 |
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= RR = RR a0 − |
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= AA = AA |
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˜ |
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˜ |
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˜ |
˜ |
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a r |
0 − |
a |
· |
r = |
A ◦ R + R ◦ A |
= |
A ◦ R + R |
◦ A |
= r |
a |
0 − |
r |
· |
a! |
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0 |
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2 |
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2 |
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0 |
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˜ |
˜ |
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˜ |
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˜ |
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r a |
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− |
a r = |
A ◦ R |
− A ◦ R |
= |
R ◦ A − R ◦ A |
= |
− |
(a |
r |
− |
r a)! |
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0 |
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2 |
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2 |
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˜ |
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˜ |
˜ ˜ |
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a |
× |
r = |
R ◦ A − A ◦ R |
= |
R |
◦ A − A ◦ R |
= |
− |
(r |
× |
a)' |
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2i |
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2i |
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< / 0 3 '
! 2 %+, %Q, . ' 8 !
/ / %
. /
,! 0 3 / ' ; 0
'
> / / /
/' < / 0 /
! 2 2 / ; !
/ / 2 '
- g !
: ' 6
.
! / . / g' E
!
! / /
' < 0
/ = 0 /
! / / :
/ % / ,
! / ' 6 /
/ / ! /
! % g g/2,'
C g G
w W !
/ ' > ! R /
/ S . / g!
. . .! / . /
' / % !
. ,! /
g / / /
' ; / 3
! 3 / !
! w! !
' g! w!
3 ΛIE !
.3 / /
E I'
1 2 2 !
. .
R . 2 S! γ
2 2 E I'
B 3 2
/ C ! ! . / 0 /
!
3 /
/ 0 / Ww Γγ '
0 / Ww Γγ
! Ww Gg %
: ,! Γγ V |
Θ |
ψ |
ϑ % ! |
: ,' 6 0 2
0 / /
0 / !
/ /2 / / .3 2 '
;
P-<E /! .3 % E,
ν w % ! 3 0 δw = νdτ ,
µ 2 % !
3 0 δα = µdτ ≈ δγ,' 8
/ 2 ' B
/ ! /
/ '
6/ 2 3
/
0 .3
@
Tt+dtRr+dr ◦ V + Γγ+dγ Θ + ◦ Gg+dgWw+dw = ψ dψ ϑ dϑ
=ΛIE(τ +dτ ) = ΛIE(τ ) ◦ ΛE(τ )E(τ +dτ ) =
=(TtRr ◦ V Γγ Θ ◦ Gg Ww) ◦ (Tdτ Vadτ Γ1+µdτ Θωdτ Gndτ Wνdτ )'
ψϑ
8 2
! .3 . !
2 / γ %
2 α,' /
/ / ! .
! 2 ' ; 0
2 / @
Γ1+δγ '
6 ! ! 3 / 3
! /
'
6 / /2 0 /
' 1
/ 2 .3 %
dτ ! / /
,@
RR+dR ◦BB+dB ◦AA+dA = (RR ◦BB ◦AA) ◦(Rdτ B1+1/2(µ+a+iω)dτ A1/2(ν+n)dτ )'
1 / /
! / / .3 2
3 M = µ + a + iω@
(5)
RR ◦ BB ◦ AA ◦ Rdτ B1+1/2Mdτ A1/2(ν+n)dτ =
![](/html/2706/30/html_lwwQTz3dT1.zR9I/htmlconvd-yx3PeJ95x1.jpg)
(5) |
◦ BB ◦ Rdτ |
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(2),(7) |
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= RR |
◦ B1−A˜ dτ ◦ AA−A2dτ ◦ B1+1/2Mdτ A1/2(ν+n)dτ |
= |
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(2),(7) |
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= RRRB◦B¯ dτ ◦ BB ◦ B1−A˜ dτ ◦ B1+1/2Mdτ ◦ |
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(1),(4),(9) |
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◦A(1+1/2M˜ dτ )◦(A−A2dτ )◦(1+1/2M¯˜ dτ )A1/2(ν+n)dτ |
= |
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(1),(4),(9) |
RR+B◦B¯ dτ |
◦BB◦[1−A˜ dτ ]◦[1+1/2Mdτ ] ◦A1/2(ν+n)dτ +A−A2dτ +1/2(M˜ ◦A+A◦M)¯˜ dτ = |
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= |
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= RR+B◦B¯ dτ ◦ BB+B◦[1/2M−A]˜ dτ ◦ AA+[1/2(ν+n)−A2+1/2(M˜ ◦A+A◦M)]¯˜ |
dτ ' |
; / / 3 /
/ % / dτ 2,' >
M /
/ % /! / /
,! 2 2 ' <
!
¯ |
! |
˜ |
! |
˜ |
' |
¯ |
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M = µ + a − iω |
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M = µ − a − iω |
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M = µ − a + iω |
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1 / / R! B! A@
¯ |
! |
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dR/dτ = B ◦ B |
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1 |
˜ |
! |
dB/dτ = /2B ◦ |
(µ + a + iω − 2A) |
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dA/dτ = 1/2(ν + n) − A2 + 1/2[(µ − a − iω) ◦ A + A ◦ (µ − a + iω)]'
$ 0 /
! / 0
/ ! / 0 /
2 @
√ 2 2! 1
R = t + r! B = γeψ/ ◦ eiϑ/ A = /2(w + g)'
E 0 / / / ; ' ;
% / , / ;
/ !
B ! ' ;
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¯ |
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! 2 / |
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B ◦ B = γ exp ψ |
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' 6 3 / '
; ! / B %
! !
![](/html/2706/30/html_lwwQTz3dT1.zR9I/htmlconvd-yx3PeJ96x1.jpg)
. ,! / / %
/ , '
< ! ! !
'
; / /
2 / / t! r! ψ! Q! g! w! γ@
dt/dτ = γ ch ψ! |
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dr/dτ = γ sh ψ! |
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dψ |
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= Q |
◦ |
a |
◦ |
Q−1 |
+ |
ψ |
×[ψ ×(Q◦a ◦Q−1)] |
1 |
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ψ |
! |
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dτ |
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ψ |
− sh ψ |
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dQ/dτ = 1/2Q ◦ iω ! |
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wa ! |
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dg/dτ = n + g |
× |
ω + µg |
− |
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dw/dτ = ν − 1/2(w2 − g 2) + µw − g · a ! |
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dγ/dτ = γ(µ − w)! |
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a = a + g! |
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ω |
= ω + a × [Q−1 ◦ th(ψ/2) ◦ Q]' |
6/ 0 / ! /
/ / ' <
/ ' < ! |
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ψ / |
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/ . v = th ψ! Q = exp(iϑ/2) :
ϑ' 8 2
2 ' B
γ α! γ / /
eα! γ
/ α@
dα/dτ = µ − w'
- / ! 3
/ !
w@ 0 % ,
2 % g :
a ,'
; %g = 0! w = 0, γ = 1 /
/ . / / 2
$
% / ;
, '
E /! %µ = 0, .3 /
%γ = 1, 0 % ,
/ 2 %w = 0,! /
% → ψ 0, . /
ψ ≈ v / / . /
'
+
,) & - $ ' #
; .
< / 3 / /
! .3 @
! ' -
! / 2 ' ;
/ ! 2 . !
3 G ! ' <
/ 2 /
2 / / /
/ ! /
/ . ' D /
/
2 % !
,' ! /
/ ! .
/ ! / 2 ! 2 ' 2
'
< . / ! 2 ' E
! %
, 2 .
3 ' ; 0 3 : / %
/ , ! / . / 2
'
1 ! ' ;
! . 2 : !
.' B %
, % ,
dt/dτ = 1!
dr/dτ = v!
dv/dτ = Q ◦ a ◦ Q−1! dQ/dτ = Q ◦ (iω)/2!
7
! ! /
' F !
/ / . ' 6/
a = ω = 0 @
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dt |
= 1! |
dr |
= v! |
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dv |
= 0! |
dQ |
= 0! |
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dτ |
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dτ |
dτ |
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dτ |
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3 2 |
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t = t0 + (τ − τ0)! |
r = r0 + (τ − τ0)v0! v = v0! Q = Q0' |
A t = t(τ )! r = r(τ )! v = v(τ )! Q = Q(τ ) : /
% / C , 3 !
t0 = t(τ0)! r0 = r(τ0)! v0 = v(τ0)! Q0 = Q(τ0) : /
/ ' 6 C )< .
% ,! /
/ ! t0 = τ0= 0 / t! t = τ . 3 !
/ 2 / τ τ0 t t0' B 3
/ .
% / . / ,!
3 /
. ! 2
r = r0 + vt'
; ! 2
' D
/ ; / / / !
/
◦ ¯ ◦ dΛ/dτ = Λ a + iω + εiΛ Λ /2'
; a = ω = 0 3 3 @
◦ ¯ ◦ dΛ/dτ = εiΛ Λ Λ/2'
Λ' E Λ /
/2 @
Λ = eεi(t+r)/2 ◦ earth v/2 ◦ Q'
E 3 2 0 / @
![](/html/2706/30/html_lwwQTz3dT1.zR9I/htmlconvd-yx3PeJ100x1.jpg)
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dt |
= |
√ |
1 |
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dr |
= |
√ |
v |
dv |
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= 0! |
dQ |
= 0= |
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! |
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! |
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dτ |
1 − v2 |
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dτ |
1 − v2 |
dτ |
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dτ |
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t = t0 |
+ |
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τ − τ0 |
! |
r = r0 |
+ |
(τ − τ0)v0 |
! |
v = v0! |
Q = Q0' |
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1 − v02 |
1 − v02 |
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1 ! / @
. / ' A /
.3 3
' 8 2
/ / ! .3 .
'
; .3 2 .@
' 6 2 0
! . /
% ,! ' 1 !
! ! 0
/ 2 / .
' / '
<
' > !
% ,! a = a0!
. ! ω = 0' F 2
0 / @
dt |
= 1! |
dr |
= v! |
dv |
= Q |
◦ |
a |
0 ◦ |
Q−1! |
dQ |
= 0! |
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dτ |
dτ |
dτ |
dτ |
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. /
' -2 !
. ! ! .
.3 ' E /!
2 = 0
. t = τ ' <
! 0
/ ! / '
/ 3 2
! 2 / /
/ / t0! r0 = r(t0)! v0 = v(t0) Q0 = Q(t0) %
τ0 ,' 7 / 3
..