Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 112

The rate of change of geodetic latitude as a function of north velocity is then

(3.9)

and geodetic latitude can be maintained as the integral

(3.10)

where is height above (+) or below () the ellipsoid surface and will be in radians if is in meters per second and and are in meters.