Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 138

The gimbal angles determine the vehicle attitude with respect to the ISA, which has a controlled orientation with respect to navigation coordinates. Each gimbal angle encoder output determines the relative rotation of the structure outside gimbal axis relative to the structure inside the gimbal axis, the effect of each rotation can be represented by a rotation matrix, and the coordinate transformation matrix representing the attitude of vehicle with respect to the ISA will be the ordered product of these matrices.

Figure 3.20 Simplified control flow diagram for three gimbals.