1. EE 495 Modern Navigation Systems Inertial Navigation in the ECEF Frame Friday, Feb 20 EE 495 Modern Navigation Systems Slide 1 of 10

2. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization Friday, Feb 20 EE 495 Modern Navigation Systems Slide 2 of 10

3. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 1. Attitude Update: Method A  Start with the angular velocity Inertial Frame ECEF Frame Body Frame Friday, Feb 20 EE 495 Modern Navigation Systems Slide 3 of 10

4. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 1. Attitude Update: Method B  Start with the angular velocity  As before Inertial Frame ECEF Frame Body Frame Friday, Feb 20 EE 495 Modern Navigation Systems Slide 4 of 10

5. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 1. Attitude Update:  High Fidelity  Lower Fidelity Friday, Feb 20 EE 495 Modern Navigation Systems Slide 5 of 10

6. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 2. Specific Force Transformation:  Simply coordinatize the specific force 3. Velocity Update  ECEF & ECI have the same origin Inertial Frame ECEF Frame Body Frame 0 Friday, Feb 20 EE 495 Modern Navigation Systems Slide 6 of 10

7. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization Friday, Feb 20 EE 495 Modern Navigation Systems Slide 7 of 10

8. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 4. Position Update  By simple numerical integration Friday, Feb 20 EE 495 Modern Navigation Systems Slide 8 of 10

9. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization 1. Attitude Update Grav Model 3. Velocity Update 4. Position Update 2. SF Transform Friday, Feb 20 EE 495 Modern Navigation Systems Slide 9 of 10

10. Inertial Navigation in the ECEF Frame Case 2: ECEF Mechanization Friday, Feb 20 EE 495 Modern Navigation Systems Slide 10 of 10