Инерциальная навигация
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6 ! v → 0 0 .
/ v . / /
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/ 0 .3
P-<E % 0 / 2 /! / /
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$ 9 (
; ! ! 2
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/!
3
! / % .
0 / ,@
Tt+dtRr+dr Φϕ+dϕ ◦ V + ◦ Θ + = (TtRr Φϕ ◦ V ◦ Θ ) ◦ (TδtΦδϕV Θ )' ψ dψ ϑ dϑ ψ ϑ δψ δϑ
+$
< / 0 Φϕ !
2
' ; 0 '
1 .3 %
/ ,@
Tt+dtRr+dr ◦ V + ◦ Θ + = (TtRr ◦ V ◦ Θ ) ◦ (Tdτ Vadτ Θωdτ )' ψ dψ ϑ dϑ ψ ϑ
B / 0
Φϕ ! / /
3
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6 2 ! / /
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3 .3 '
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Λ+ dΛ = Λ ◦ eεidτ /2eadτ /2eiωdτ /2!
(+ ) 2 2 2 R 2
Λ = eεi t r / ◦ eψ/ ◦ eiϑ/ = eεi / ◦ B = (1 + εiR/2) ◦ B'
F 0 / / !
/ dτ ! ! 3 Λ dτ !
/
Λ@
++
dΛ/dτ = Λ ◦ (a + iω + εi)/2'
6 2 / 3 ! .3
/ ; ! Λ' >
/ / ' 6/ . . Λ
Λ = B + ε |
i |
R |
◦ |
B |
, |
dΛ |
= |
dB |
+ ε |
i |
1 dR |
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B + i |
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εi |
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dR |
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◦ |
dB |
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= |
dΛ |
= |
1 |
Λ |
◦ |
(a + iω + εi) = |
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(a+iω+εi) = |
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6 .3 /
@
dR/dτ = 1! dB/dτ = B ◦ (a + iω)/2
R = t + r, B = eψ/2 |
◦ eiϑ/2' |
|
|
6 ! B .3 !
/ !
R ' E ! /
t! r! ψ! ϑ . ! . ! /
/ ; ' 6/ 2 .3
@
dt/dτ = 1!
dr/dτ = 0'
; 0 .3 !
/ / C ! : 3 '
E . dr/dτ = 0
!
! /
! ! G
+7
' ; /
/ ' ; / / ' <
'
' 1 ! / ! /
/
' E .3 2
/ .3 2 / ; !
/ ! /
/ ! / /
@
, ! / 3 / /
/ /! 3 / / : .
! ! !
! / .3
% / 3 / ,=
, ! / 3 / /
! 3 / /'
A / !
2 3 / /! /
' >
/ 0 / /
: %a = 0! ω = 0,
.'
+
+' & # "
% 9 ( : (
; . 2 . C / '
< 0 / 2 @ /
/! . /
C 0 ' 1
2 C / G !
/ '
; 0 / %Tt! Rr! Vv! Θ Gg ,
ϑ!
2 / C ! 2 2 :
.3 2 ' 6
.
.'
6 / / :
. / / ' > 0
/ * X = τ + ρ' 6 /
/ 0
% /
. /
/,!
' >
3 2 / C 0 *
' > .3 2
! . 0 / ' E
! . * 0 /
/ C '
, ; Tt % / / .
,@
τ = τ + t! ρ = ρ'
, ; Rr % / / .
/ /
,@
τ = τ ! ρ = ρ + r'
7.