Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 118

Rate gyroscopes used in inertial navigation measure components of a rotation rate vector in ISA‐fixed coordinates, which had historically been used to express its effect on a coordinate transformation matrix from ISA coordinates to the coordinates for integration in terms of a linear differential equation of the sort

(3.14)

which is not particularly well‐conditioned for numerical integration.

The alternative representation in terms of quaternions is described in Section 3.6.1.2 and (in greater detail) in Appendix B.