Abstract

Summary The equations to be represented in the computer of an inertial navigation system for use near the surface of the earth are derived by elementary methods, and a block diagram of the computer is presented. No restrictions are placed on the nature of the earth's gravity field and only minor restrictions on the shape of the earth. The shape and gravity field of the earth are dis­ cussed and specialization of the equations and block diagram is made for the case where the earth and gravity field are assumed to have axial symmetry.

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