Package com.irurueta.navigation.inertial.navigators

Class NEDInertialNavigator

java.lang.Object

com.irurueta.navigation.inertial.navigators.NEDInertialNavigator

public class NEDInertialNavigator
extends Object

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise). 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_NED.m

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ALPHA_THRESHOLD	Alpha threshold.
static final double	DEFAULT_ACCURACY_THRESHOLD	Default threshold to consider a coordinate transformation matrix as a valid rotation.
static final double	EARTH_ROTATION_RATE	Earth rotation rate expressed in radians per second (rad/s).
private static final int	ROWS	Number of rows.

Constructor Summary

Constructors

Constructor	Description
NEDInertialNavigator()

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	convertAngleToDouble(com.irurueta.units.Angle angle)	Converts provided angle instance into its corresponding value expressed in radians.
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	isValidBodyToNEDCoordinateTransformationMatrix(com.irurueta.navigation.frames.CoordinateTransformation c)	Checks whether provided coordinate transformation matrix is valid or not.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
void	navigate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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 local-navigation-frame inertial navigation equations.
com.irurueta.navigation.frames.NEDFrame	navigateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static void	navigateNED(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold, com.irurueta.navigation.frames.NEDFrame result)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Acceleration fx, com.irurueta.units.Acceleration fy, com.irurueta.units.Acceleration fz, com.irurueta.units.AngularSpeed angularRateX, com.irurueta.units.AngularSpeed angularRateY, com.irurueta.units.AngularSpeed angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, double fx, double fy, double fz, double angularRateX, double angularRateY, double angularRateZ, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, BodyKinematics kinematics, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.
static com.irurueta.navigation.frames.NEDFrame	navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldSpeedN, com.irurueta.units.Speed oldSpeedE, com.irurueta.units.Speed oldSpeedD, 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, double accuracyThreshold)	Runs precision local-navigation-frame inertial navigation equations.

Methods inherited from class java.lang.Object

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

Field Details

EARTH_ROTATION_RATE

public static final double EARTH_ROTATION_RATE

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

See Also:

• Constant Field Values

DEFAULT_ACCURACY_THRESHOLD

public static final double DEFAULT_ACCURACY_THRESHOLD

Default threshold to consider a coordinate transformation matrix as a valid rotation.

See Also:

• Constant Field Values

ALPHA_THRESHOLD

private static final double ALPHA_THRESHOLD

Alpha threshold.

See Also:

• Constant Field Values

ROWS

private static final int ROWS

Number of rows.

See Also:

• Constant Field Values

Constructor Details

NEDInertialNavigator

public NEDInertialNavigator()

Method Details

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

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

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

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

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

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

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

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

navigate

public void navigate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

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

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

navigate

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

result - instance where new estimated NED 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.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldFrame - previous NED 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 NED 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.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

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

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED 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 NED 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.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

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

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

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

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

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

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

result - instance where new estimated NED 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.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

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

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

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

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

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

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

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

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

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

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

result - instance where new estimated NED 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.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

result - instance where new estimated NED 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.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

result - instance where new estimated NED 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.NEDFrame 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

result - instance where new estimated NED 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.NEDFrame 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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.NEDFrame 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.NEDFrame result)
              throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

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

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

result - instance where new estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

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

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

Returns:

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

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

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

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

Returns:

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

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

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

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

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

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

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

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

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

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateAndReturnNew

public com.irurueta.navigation.frames.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold)
                                                             throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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.NEDFrame navigateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

result - instance where new estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED 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 NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED 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 NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold,
 com.irurueta.navigation.frames.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNED

public static void navigateNED(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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.NEDFrame result)
                        throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

result - instance where new estimated NED frame containing new body position, velocity and coordinate transformation matrix will be stored.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-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 NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect ECEF frame resolved along north, east and down axes.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldC - previous body-to-NED coordinate transformation.

oldVn - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVe - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

oldVd - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes and expressed in meters per second (m/s).

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldSpeedN,
 com.irurueta.units.Speed oldSpeedE,
 com.irurueta.units.Speed oldSpeedD,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude angle.

oldLongitude - previous longitude angle.

oldHeight - previous height.

oldC - previous body-to-NED coordinate transformation.

oldSpeedN - previous velocity north-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedE - previous velocity east-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

oldSpeedD - previous velocity down-coordinate of body frame with respect ECEF frame, resolved along NED-frame axes.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED 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-NED-frame coordinate transformation matrix are invalid.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics kinematics)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

kinematics - body kinematics containing specific forces and angular rates applied to the body.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Acceleration fx,
 com.irurueta.units.Acceleration fy,
 com.irurueta.units.Acceleration fz,
 double angularRateX,
 double angularRateY,
 double angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in radians per second (rad/s).

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.AngularSpeed angularRateX,
 com.irurueta.units.AngularSpeed angularRateY,
 com.irurueta.units.AngularSpeed angularRateZ,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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,
 double accuracyThreshold)
                                                                       throws InertialNavigatorException

Runs precision local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

accuracyThreshold - threshold to determine whether a matrix is a valid rotation or not.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

navigateNEDAndReturnNew

public static com.irurueta.navigation.frames.NEDFrame navigateNEDAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame 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 local-navigation-frame inertial navigation equations. NOTE: only the attitude update and specific force frame transformation phases are precise.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

oldFrame - previous NED frame containing body position, velocity and coordinate transformation matrix.

fx - specific force x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fy - specific force y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

fz - specific force z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval and expressed in meters per squared second (m/s^2).

angularRateX - angular rate x-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateY - angular rate y-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

angularRateZ - angular rate z-coordinate of body frame with respect ECEF frame, resolved along body-frame axes, averaged over time interval.

Returns:

estimated NED frame containing new body position, velocity and coordinate transformation matrix.

Throws:

InertialNavigatorException - if navigation fails due to numerical instabilities.

isValidBodyToNEDCoordinateTransformationMatrix

public static boolean isValidBodyToNEDCoordinateTransformationMatrix(com.irurueta.navigation.frames.CoordinateTransformation c)

Checks whether provided coordinate transformation matrix is valid or not. Only body to NED 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.

convertAngleToDouble

private static double convertAngleToDouble(com.irurueta.units.Angle angle)

Converts provided angle instance into its corresponding value expressed in radians.

Parameters:

angle - angle instance to be converted.

Returns:

converted value expressed in meters.

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.