Inertial Navigation Referred to the Free Surface-II : Theories of Type NS and Type I(1) Mechanizations

Abstract

In the previous paper I (Vol.70, January 1984, this Journal), the author described the basic concepts and theoretical considerations on the Free Surface (FS) mechanization of inertial navigation. This time he reports two applications of the general theory. One is to the type NS mechanization and the other to the type I(1) mechanization. Both mechanizations utilize respectively only one spatial reference. That is, the reference of the former is the north-south axis and that of the latter is the earth axis. The difference of these spatial references brings out corresponding differences between the theoretical constitutions of the two mechanizations. Solutions of the navigation equations are effected by means of the block diagrams, and how to find the geographic coordinates are elucidated for outputting the attitude angles.