Package com.irurueta.navigation.inertial.navigators

Class ECIInertialNavigator

java.lang.Object

com.irurueta.navigation.inertial.navigators.ECIInertialNavigator

public class ECIInertialNavigator
extends Object

Runs precision ECI-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_ECI.m

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ALPHA_THRESHOLD	Alpha threshold.
private static final int	ROWS	Number of rows.

Constructor Summary

Constructors

Constructor	Description
ECIInertialNavigator()

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	isValidBodyToEciCoordinateTransformationMatrix(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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
com.irurueta.navigation.frames.ECIFrame	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 ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static void	navigateECI(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.ECIFrame result)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, double oldX, double oldY, double oldZ, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.geometry.Point3D oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics kinematics)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.
static com.irurueta.navigation.frames.ECIFrame	navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

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

ECIInertialNavigator

public ECIInertialNavigator()

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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-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.ECIFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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.ECIFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI 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 ECI 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.ECIFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI 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 ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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.ECIFrame 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.ECIFrame result)
              throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.ECIFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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.ECIFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(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.ECIFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECI

public static void navigateECI(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI 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 ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI 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 ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECI

public static void navigateECI(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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.ECIFrame result)
                        throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated ECI frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous cartesian position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-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 ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters (m).

oldC - previous body-to-ECI-frame coordinate transformation.

oldVx - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-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 ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldX - previous cartesian x-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldY - previous cartesian y-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldZ - previous cartesian z-coordinate position of body frame with respect ECI frame, resolved along ECI-frame axes.

oldC - previous body-to-ECI-frame coordinate transformation.

oldSpeedX - previous velocity x-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedY - previous velocity y-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

oldSpeedZ - previous velocity z-coordinate of body frame with respect ECI frame, resolved along ECI-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI 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-ECI-frame coordinate transformation matrix are invalid.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame oldFrame,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException

Runs precision ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI 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 ECI 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 ECI 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 ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateECIAndReturnNew

public static com.irurueta.navigation.frames.ECIFrame navigateECIAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECIFrame 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 ECI-frame inertial navigation equations.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous ECI frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECI frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated ECI frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

isValidBodyToEciCoordinateTransformationMatrix

public static boolean isValidBodyToEciCoordinateTransformationMatrix(com.irurueta.navigation.frames.CoordinateTransformation c)

Checks whether provided coordinate transformation matrix is valid or not. Only body to ECI 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.