Optimum mixing of inertial navigator data and radar data
MICHEL CLAUDE BRAYARD · NASA STI Repository (National Aeronautics and Space Administration) · 1969
B-7 CK( 13)=Y.?)/P CK(141=Y(23)/R CONTINUOUS FILTER CCMPFNSATIIN TERMS 196 CT(I)=(Y(I)*Y(I1+C*Y(13) *YIi)/R CT(2)=(Y(3)*Y(3)+C*Y(14)*Y(14))/R CT(3)=-(Y(I)t-Y(3)+C*Y(]3)*Y(14)}/R CT(4)=(C*Y(13)*Y(13) Y(4)*Y(4))/R CT(5)=(C*Y(15)4V(15)+Y(6)* Y(6) R CT(6)=(C*Y(13)*Y(15)+Y(4) Y(6))/R IF (A.EQ.0.)GO TO 103 CTR CT(22)=(Y(1)*Y(22)+Y(13)*Y(23))/R CT(23)=(Y(13)*Y(22)+Y(4)*Y(23))/R CT(24)=(Y('i)*Y(22)+Y(14)*Y{23)}/R CT(25)=(Y(15)*Y(22)+Y(6)*Y(23))/R CT(26)=(Y(17)*Y(22)+Y(7)*Y(23))/R CT(27)=(Y(10)J*Y(22+Y(1q)Y(23))/R CT(28)=(Y(2?)*Y(22)+Y(23)*Y(23))/R 103 DO 104 i=1,N 104 YP(I)YP(I)-CT(I) 105 RETURN END