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By I. Sturton

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The geodetic vertical is everywhere normal to the reference ellipsoid. In the figure, the geodetic longitude and latitude are denoted by X and 0, respectively. The origin is at the center of mass of the Earth and the three axes are designated by the letters n, w, and u\ n axis—in the direction of geodetic north; w axis—perpendicular to the meridian plane containing the vehicle, directed toward the west; and u axis—directed outward along the local geodetic vertical passing through the vehicle (IMU center of mass).

3 of this chapter can be applied to the transformation from gyro input axes to vehicle body axes with the p subscript replaced by b. IV. Commonly Used Coordinate Rotations It is clear by now that coordinate rotations are an integral part of inertial navigation. With the exception of the coordinate rotations derived from the output of the gyro cluster, those most commonly used are defined in this section. The excluded coordinate rotations are the rotation from platform or vehicle body axes to ECI coordinates.

163, B. W. Parkinson and J. J. Spilker, Jr. ) AIAA, Washington, 1996, p. 137. 2 Beggs, J. , Kinematics, Hemisphere, Washington, DC, 1983, p. 19. , Theory of Matrices, Addison-Wesley, Reading, MA, 1952, p. 75. 4 Britting, K. , Inertial Navigation Systems Analysis, Wiley, New York, 1971, p. 41. Purchased from American Institute of Aeronautics and Astronautics Chapter 3 Equations of Motion in a Central Force Gravity Field A S pointed out in the description of inertial navigation in Chapter 1, vehicle state is obtained by integrating the equations of motion.

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