Outline Overview where

Outline

Overview

+

where = Bias + White Noise : Sensor Output : Sensor Input Bias : Markov Process, tc=60 s for all Accelerometer Outputs Rate Gyro Outputs

Pseudorange Rate : Satellite Position : Platform Position : Pseudorange equvalent Clock Bias (Random Walk) : Pseudorange rate equivalent Clock Drift (Random Walk) : Normally Distributed Random Number

Measurement: Random Noise: Output Equation: where

Zecef Nominal Trajectory x y Yecef z Xecef x=Zecef y=-Yecef z=Xecef-6378137 m

Local Frame Position Errors: (true) – (estimated) dx (m) dy (m) dz (m) 0 400 (sec)

Local Frame Velocity Errors: (true) – (estimated) 0 400 (sec)

Local Frame Euler Angle Errors: (true) – (estimated) droll (rad) dpitch (rad) dyaw (rad) 0 400 (sec) Effect on Geo Positioning?

Local Frame Position Errors: (true) – (estimated) dx (m) dy (m) dz (m) 0 400 (sec)

Local Frame Velocity Errors: (true) – (estimated) 0 400 (sec)

Local Frame Euler Angle Errors: (true) – (estimated) droll (rad) dpitch (rad) dyaw (rad) 0 400 (sec) 0. 06 deg for yaw,

Local Frame Position Errors: (true) – (estimated) dx (m) dy (m) dz (m) 0 400 (sec) 200~300 s covariance and nominal trajectory data are passed to imagery analysis

Local Frame Velocity Errors: (true) – (estimated) 0 400 (sec)

Local Frame Euler Angle Errors: (true) – (estimated) droll (rad) dpitch (rad) dyaw (rad) 0 400 (sec)