com.irurueta.navigation.inertial.navigators.ECEFInertialNavigator

public class ECEFInertialNavigator extends Object

Runs precision ECEF-frame inertial navigation equations. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Nav_equations_ECEF.m

Field Summary

Fields

Modifier and Type

Field

Description

private static final double

ALPHA_THRESHOLD

Alpha threshold.

static final double

EARTH_ROTATION_RATE

Earth rotation rate expressed in radians per second (rad/s).

private static final int

ROWS

Number of rows.
Constructor Summary

Constructors

Constructor

Description

ECEFInertialNavigator()
Method Summary

Modifier and Type

Method

Description

private static double

convertAccelerationToDouble(com.irurueta.units.Acceleration acceleration)

Converts provided acceleration instance into its corresponding value expressed in meters per squared second.

private static double

convertAngularSpeedToDouble(com.irurueta.units.AngularSpeed angularSpeed)

Converts provided angular speed into its corresponding value expressed in radians per second.

private static double

convertDistanceToDouble(com.irurueta.units.Distance distance)

Converts provided distance instance into its corresponding value expressed in meters.

private static double

convertSpeedToDouble(com.irurueta.units.Speed speed)

Converts provided speed instance into its corresponding value expressed in meters per second.

private static double

convertTimeToDouble(com.irurueta.units.Time time)

Converts provided time instance into its corresponding value expressed in seconds.

static boolean

isValidBodyToEcefCoordinateTransformationMatrix(com.irurueta.navigation.frames.CoordinateTransformation c)

Checks whether provided coordinate transformation matrix is valid or not.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

void

navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

com.irurueta.navigation.frames.ECEFFrame

navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static void

navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics)

Runs precision ECEF-frame inertial navigation equations.

static com.irurueta.navigation.frames.ECEFFrame

navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)

Runs precision ECEF-frame inertial navigation equations.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- EARTH_ROTATION_RATE
  
  public static final double EARTH_ROTATION_RATE
  
  Earth rotation rate expressed in radians per second (rad/s).
  See Also:
  
  Constant Field Values
- ALPHA_THRESHOLD
  
  private static final double ALPHA_THRESHOLD
  
  Alpha threshold.
  See Also:
  
  Constant Field Values
- ROWS
  
  private static final int ROWS
  
  Number of rows.
  See Also:
  
  Constant Field Values
Constructor Details
- ECEFInertialNavigator
  
  public ECEFInertialNavigator()
Method Details
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigate
  
  public void navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateAndReturnNew
  
  public com.irurueta.navigation.frames.ECEFFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEF
  
  public static void navigateECEF(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.ECEFFrame result) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  result - instance where new estimated ECEF frame containing new body position, velocity and coordinate transformation matrix will be stored.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldPosition - previous cartesian position resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVx - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVy - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  oldVz - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters (m).
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldVelocity - previous body velocity resolved along ECEF-frame axes.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Distance oldX, com.irurueta.units.Distance oldY, com.irurueta.units.Distance oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedX, com.irurueta.units.Speed oldSpeedY, com.irurueta.units.Speed oldSpeedZ, BodyKinematics kinematics) throws InertialNavigatorException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldX - previous cartesian x-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldY - previous cartesian y-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldZ - previous cartesian z-coordinate position of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldC - previous body-to-ECEF-frame coordinate transformation.
  
  oldSpeedX - previous velocity x-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedY - previous velocity y-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  oldSpeedZ - previous velocity z-coordinate of body frame with respect ECEF frame, resolved along ECEF-frame axes.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
  
  com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if source or destination frame types of previous body-to-ECEF-frame coordinate transformation matrix are invalid.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics kinematics) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  kinematics - body kinematics containing specific forces and angular rates applied to the body.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs expressed in seconds (s).
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- navigateECEFAndReturnNew
  
  public static com.irurueta.navigation.frames.ECEFFrame navigateECEFAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ) throws InertialNavigatorException
  
  Runs precision ECEF-frame inertial navigation equations.
  
  Parameters:
  
  timeInterval - time interval between epochs.
  
  oldFrame - previous ECEF frame containing body position, velocity and coordinate transformation matrix.
  
  fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.
  
  Returns:
  
  estimated ECEF frame containing new body position, velocity and coordinate transformation matrix.
  
  Throws:
  
  InertialNavigatorException - if navigation fails due to numerical instabilities.
- isValidBodyToEcefCoordinateTransformationMatrix
  
  public static boolean isValidBodyToEcefCoordinateTransformationMatrix(com.irurueta.navigation.frames.CoordinateTransformation c)
  
  Checks whether provided coordinate transformation matrix is valid or not. Only body to ECEF transformation matrices are considered to be valid.
  
  Parameters:
  
  c - coordinate transformation matrix to be checked.
  
  Returns:
  
  true if provided value is valid, false otherwise.
- convertTimeToDouble
  
  private static double convertTimeToDouble(com.irurueta.units.Time time)
  
  Converts provided time instance into its corresponding value expressed in seconds.
  
  Parameters:
  
  time - time instance to be converted.
  
  Returns:
  
  converted value expressed in seconds.
- convertDistanceToDouble
  
  private static double convertDistanceToDouble(com.irurueta.units.Distance distance)
  
  Converts provided distance instance into its corresponding value expressed in meters.
  
  Parameters:
  
  distance - distance instance to be converted.
  
  Returns:
  
  converted value expressed in meters.
- convertSpeedToDouble
  
  private static double convertSpeedToDouble(com.irurueta.units.Speed speed)
  
  Converts provided speed instance into its corresponding value expressed in meters per second.
  
  Parameters:
  
  speed - speed instance to be converted.
  
  Returns:
  
  converted value expressed in meters per second.
- convertAccelerationToDouble
  
  private static double convertAccelerationToDouble(com.irurueta.units.Acceleration acceleration)
  
  Converts provided acceleration instance into its corresponding value expressed in meters per squared second.
  
  Parameters:
  
  acceleration - acceleration instance to be converted.
  
  Returns:
  
  converted value expressed in meters per squared second.
- convertAngularSpeedToDouble
  
  private static double convertAngularSpeedToDouble(com.irurueta.units.AngularSpeed angularSpeed)
  
  Converts provided angular speed into its corresponding value expressed in radians per second.
  
  Parameters:
  
  angularSpeed - angular speed instance to be converted.
  
  Returns:
  
  converted value expressed in radians per second.

Class ECEFInertialNavigator

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

EARTH_ROTATION_RATE

ALPHA_THRESHOLD

ROWS

Constructor Details

ECEFInertialNavigator

Method Details

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