Methods of computing the transformation matrix associated with gimballess inertial measurement units (1965)
Burdeshaw, D. H · leaf 17
Y2 Y^ ^1 n a X I ^ I … /^ COS d 0 -sin 0„ cos -6 y y X sin 0. 0 sin e Vsi 0 cos 6 cos 0 \ y y xy \^ z^ FIGURE 3. TRANSFORMATION FROM EULER ANGLE RATES TO VEHICLE ANGULAR RATES 13
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