Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 114

The rate of change of longitude as a function of east velocity is then

(3.12)

and longitude can be maintained by the integral

(3.13)

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. Note that this formula has a singularity at the poles, where cos(, a consequence of using latitude and longitude as location variables.