Igfeasorprincipleff

navigation frame ma

stationary in the task

I I
inertial frame i
174 measurement
W r t this frame

earth frame e
Wie rotation around
2 axis of i with
7,29 no 5rad

d
angular
revity
Ifegtation
external

HI
force
4g.mg
ac.e4t
M 1iti
dead reckoning process with integrations
 Gyroscope measurement
why Rb wie t We
T t Why angular velocity of
Wii low r t.mn
angularvelocity zg.io
of low r t I
Orientation Transport
rate
transformation
between went
Ab and an

Accelerometer measurement Speficforce force per unit mass

fb Rb Xi g
T
linear acceleration
W r t a

We want Xin required for navigationpurpose

generally v Raw uh ul Raw ult wai xu

X Xin 2 wie xx t wie x wii xx

Coriolis centrifugal
acceleration acceleration
relation between Xi and inn
b For Coriolis acceleration

112 wie xxall 21 will llxill

2 729.10 54 1201g TEE
14,86 10 3g
For centrifugal acceleration
llwiexwie x ll.tl wiellillwiillillxll
2
7,29 10
57 6377km 10001
E 3,38 10 252

Discussion

Whb

In
Simplifications
Sensor errors

Drift
task.fi
dR Yf.dSt3et det3
traitzIf dA

ids fide Edt F

of ds tf de da change in resistance

ft del off introduce E

11
d
GF E

circular conductor A Id
Poisson's ratio no
47 we

da 2 D DD t
4 É 2 2 v e

GF 1 t E É At t 20
d Rt DR R R R
Rn Ry
Ud Vac Vac lg RTE III
L fan EET Ug Eh
b F m
g k Blood

Elrod Yet
proportionaldeformation
If
DE GF.de Gt GF.E
De Eight
d un v in Y
Ud Z k l rod t G F m
g Ug G F m
g
G F m
g Va
i
Vg 2 Ud k l ra d

th
Ygjgg