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acceleration of gravitation accelerometer reference frame accuracy assumed assumption of small AUTOMATIC NAVIGATION circular functions computed position computer design considered constant-velocity orbit control system error derived diagram of Fig differential equations dynamical measurements earth equation of motion erroneous error equation take error in altimeter error in position error signal ERRORS IN AUTOMATIC errors in computed errors in guidance flight form of g'(r geocentric guidance and control guidance computer guidance error guidance system guided missiles hyperbolic functions inertial coordinate system INTEGRATING ACCELEROMETER SYSTEMS integration stage J. J. Gilvarry linear approximation method NAVIGATION WITH INTEGRATING non-linear noutlcal miles numerical integration orbital speeds orient the accelerometers parabola path perturbation theory polar coordinates position error equations position vector precalculated provided by altimeter radial and tangential radius rand Corporation represents three scalar resolve the accelerations right-hand side S. H. Browne SANTA MONICA small perturbations solutions of Eq steady motion system components trajectory values vehicle