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normalized phase
1.0025
1.002
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1
−40
−30
−20
−10
0
10
20
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distance in azimuth from the target in meters
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'
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'
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Target range compressed, unwrapped phase history
600
no motion
with motion
500
400
300
200
radians
100
0
−100
−200
−300
−400
−500
−40
\&);<76.1=b4PO
9!;1Y,
−30
g91F9
e
GF9
h!"BC
−20
−10
0
10
20
azimuth distance from nominal range to target
:
Eo29:
h!"::96
91F9
J9@^l9loB,
30
40
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b<b
601.5
bin 494
range to target in meters
601
bin 493
600.5
600
bin 492
599.5
−40
\&);<76.1=3b 4 L
)
2<;9
−30
−20
−10
0
10
20
azimuth distance in meters from nominal range to target
9@%
PQ91F9
B:mGF9
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HF
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4
4
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8
8
10
12
14
14
16
16
18
18
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>
1000
1500
2000
azimuth sample
91F9
8
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112G@]59:!X1\
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9!;F\>2i,
10
12
500
40
abs target returns with cross−track motion
range bin
range bin
abs target returns no cross−track motion
30
2500
500
1000
1500
2000
azimuth sample
2500
2
:
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frequency filtering
1200
sum absolute error
1000
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600
400
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0
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0
5
10
15
20
window size in samples or Hz
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−7
roll error
x 10
degrees
1
0.5
0
0.5
1
−7
0
x 10
1.5
pitch error
2
1.5
azimuth error
2
2.5
4
x 10
degrees
−0.5
−1
−1.5
−2
0.5
1
−7
degrees
2
x 10
2.5
4
x 10
1.5
1
0.5
0.5
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1
1.5
2
number of samples (1000 Hz)
2.5
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−4
roll error
x 10
degrees
15
10
5
0
0.5
1
−4
x 10
1.5
pitch error
2
1.5
azimuth error
2
2.5
4
x 10
degrees
0
−5
−10
−15
0.5
1
−4
x 10
2.5
4
x 10
degrees
5
0
−5
−10
0.5
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x 10
degrees
0
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0.5
1
−4
x 10
1.5
pitch error
2
1.5
azimuth error
2
2.5
4
x 10
degrees
0
−2
−4
0.5
1
−4
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2.5
4
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2
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roll error
max
mean
min
degrees
0.08
0.06
0.04
0.02
0
0
1
1.5
pitch error
2
1.5
azimuth error
2
2.5
3
4
x 10
max
mean
min
0.08
degrees
0.5
0.06
0.04
0.02
0
0
1
2.5
3
4
x 10
max
mean
min
0.1
degrees
0.5
0.05
0
0
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number of angular rate samples (1000 Hz)
91
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4
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d c` [,/960 c c S%b/b` K4`*:=FaG<.@A* RTG&)@1&DG<9 ,/LDB>G*-,KB ,`L)&D96=?,/.@A=C. E @A*-, @
E G06=CLDBH@A*6=3 R6LS,K@>IUG<. E :$ &)96; 96G/.>@A* &)@A* , Q<=CLDG (?&)@ $ G/HI L9L E KB?4 *6= 06G 9
,/(C(?=?L)=?.1,K@A&)G<9
*-,/B",'(CG<96B>@A,/9%@"@1=?. E VN M E KB /.>=?R6.>=?B1=C9%@A&D9:;;<.1, Q &M@ $ 4 *6=?B>= QK,/LD7:=?B8R6.1G 0676(C=
, E , & E 7 E ,/(?(C=?L)=?.A, @A&DG/9 aG/.>@A* :,/B@ 6,K960 06G 9 G/I O O:d O O6d :,/9:0 Rd O b/c E KB 4[*6=CB1=
QK,/LD7:=?B .>=?R6.>=?B1=C9%@ , E , & E 7 E GKI, # G<7@H, c L ,/(C(?=?L)=?.1,K@A&)G<9 &D9 =?,/(+* 06&D.>=?(C@1&DG<9 [B1G &)@
B1& E 76LD,K@A=CB ,/9 ,K(?(?=CLD=C.A,K@1&DG<9 G/9@A*6= R:LS,K@>IUG<. E @1*-,K@&)BR6* $ B1&)(^,/L)L $ RTG/B1B1& # LD=K45 & =
@A*:= ,K@1@1&)@17606= B>& E 76LD,K@A&)G<96B @1*6= = =C(C@ABGKI@1*6= .>G/@+,K@1&DG<9`G/I@A*6= ,K.>@A* ,K960 @A*6= OG TB1=]@
,/96;/LD=?B,K.1=
96G/@&)96(?L)7606=?0 4
K 6
- #$:!-$!G= $ 3:-$: 4 34 *6=
IUG<LDL)G &D96;ZB>@A=CR6B'G<7:@AL)&D96= @1*6=
9-,^Q &D;%,K@1&DG<9 B1& E 76LS,K@1&DG<9:B
d<4aN.>=^,K@1=R G<B1&M@A&DG/9 %Q<=?L)G(C&)@ $ :,/9:0 B1R =?(C&)V-(IUG/.1(?= ) ' 0-,K@+,Z&D9P@1*6=96, Q &);%,K@A&)G<9HIU.A, E =, @
@1*6=
O!; $ .1GHBA, E R6L)=.A,K@1= d c<c/c 4
b4aN.>=^,K@1=Z, @1@A&M@A760:=
,/960`,K@1@1&)@A7:06=.A,K@1=0-,K@A,:4
:4'O'B1=@A*6= ,K@>@A&M@A7606=06,K@+, @AG (?.>=^,K@1=@A*6=
06&).1=?(]@A&)G<9F(?G&D96= E ,K@A.>&D(C=?B F ' 4
O64 .A,/9:B1R G<B1=
@A*6=
06&).1=C(C@A&)G<9F(?G/B1&D9:= E ,[email protected]&D(C=?B F ' 4*6= E ,K@A.>&D(?=CB # =?(?G E = F ' 4
L4a`7:L)@A&)R6L $ @A*6= 9-,^Q &D;%, @A&DG/93IU.1, E =
B>RT=C(?&)V6( IUG<.>(?= 0-,K@A, #%$ @A*6= F ' E ,[email protected]&D(C=?B@[email protected],/96B IUG<. E @1*6=
B1R =?(?&MV-(IUG<.1(C=@AG @A*6= # G0 $ IU.A, E = ) ]4
S:4'=?B1, E R:LD= ) @AG @A*:=Z,K(?(?=CLD=C.1G E =C@1=?.BA, E R6L)=.A,K@1= L/c<c 4
, -G<.9:G<&DB $ B1& E 76LS, @A&DG/96BW,/0:0`96G/&DB1= @1G ) 4
S:d
# F I\06=?B>&D.>=?03X 76,/9%@A& C=@A*6= # G0 $ IU.A, E =B1R =?(C&)V-(IUG<.>(?=
0-,K@A,:4
U4'O'B1= ,K@1@1&)@17606=
,/960`,K@>@A&)@17606=.1,K@A=0-, @+, @AGH(?.>=^,K@1= # G 0 $ @A7:.19 .A,K@1=?BC4
,
- G<.9:G<&DB $ B1& E 76LS, @A&DG/96BW,/0:0`96G/&DB1= 1@ G @A*6= # G0 $ .A,K@1=?B?4
# *:=?9F@A=CB>@A&)96; # &D,/BN= =C(C@1B,/060 , (C<G 96B>@A,/9%@@A=C. E @AG =?,/(+*3, &DB E =^,KB176.>= E =?9%@ABC4
J ( I W,K9Y@1=?0`X 76,/9%@A& C= # G 0 $ .1,K@A=CB?4
M:4'O'B1= # G0 $ .1,K@A=CB ,/960 B@+,/.@ ,/9:;<LD=CBZ@AG=?B>@1& E ,K@A= F ' /, BZ06=C@A,/&DL)=?0 &)9 =C(C@1&DG<9 O:4 `@1G
G # @+,/&)9 F ' 4
N:4 .A,/9:B>IUG<. E # G 0 $ IU.A, E =B1R =?(C&)V-(IUG<.>(?=
0-,K@A, @1GP96, Q &);%,K@A&)G<9 IU.A, E = ) ' F ' ) 4
d c:4 96R:7:@@A*6= B1R =?(C&)V-(IUG<.>(?=
9-,^Q &D;%,K@1&DG<9FIU.1, E =06,K@+, &D9 =CX 76,K@A&)G<9 :O 4 b @1GP;<=]@',/(?(C=?L)=?.A, 1@ &DG<9F&)9 @1*6=
9-,^Q &D;%,K@1&DG<9 IU.1, E =/4
d<d<4''7 E =C.1&)(^,/L)L $ &D9%@A=C;<.A, @A=[@A*:=96, Q &);%,K@A&)G<9 IU.A, E =,/(C(?=CLD=?.1,K@A&)G<9 @AGG # @+,/&)9
@1*6=9-,^Q &D;%,K@1&DG<9
IU.1, E = Q/=?L)G(C&)@ $ 4
, = E G Q<=
@A*6= ,/(C(?=CLD=?.>G E =C@A=C. # &S,KB1=?B&MI @1*6= $ ,K.1=&D9:(?LD7:06=?0_4
d b4''7 E =C.1&)(^,/L)L $ &D9%@A=C;<.A, @A= @1*6= 9-,^Q&);%,K@1&DG<9IU.1, E = Q<=CLDG (?&)@ $ @AG G # @A,/&D9 @1*6= 9-,^Q &D;%,K@1&DG<9
IU.1, E =R G&)@A&)G<9_4
d:4a7 # @A.1,/(C@[@1*6=N&)9%@A=?;/.A,K@1=?0 R G<B1&M@A&)G<9ZIU.>G E @A*6= RTG&)@1&DG<9Z&D9 B@A=CRFdN@AG ;/=C@,K9 =?.>.1G<. @A=?. E 4
K ; =$ 3:-$:!>$
! $" OaB>&D96;P0-,K@A, &)@1*6G<7:@aXY7-,/9%@A& ^,K@1&DG<9`G<. E =^,KB176.>= E =?9%@ 96G/&DB1=Z;<&)Q/=?B,PR G<B1&M@A&DG/9`=C.1.1G/.
,KI @1=?. <c B G/I L L d c E c d c E ,K960 d L d c E ,/B B1*6G 9&D9 \&);<76.1=
O64QL4 76(+* B E ,/L)L[=?.>.1G<.>B
;<&)Q/=?B (?G<9:V606=?96(C= &)9 @1*6=P96, Q &);%,K@A&)G<9 =?XY7-, @A&DG/9 @1*-,K@
@A*6= =?.>.1G<.
&)B
06=]@A=?. E &)96=?0 #%$ @A*:= XY7-,KLD&)@ $ G/I @A*6= E G/@A&)G<9 0-,K@A,:4
S%b
−6
N position error
x 10
meters
4
2
0
2000
4000
6000
8000
E position error
10000
12000
14000
2000
4000
6000
8000
D position error
10000
12000
14000
2000
4000
6000
8000
10000
12000
14000
−6
meters
x 10
2
1
0
−8
meters
0
x 10
−5
−10
−15
\&);<76.1=O64 L
y!;!;1Z
9VH!"1F1!X:
y@]
6517
!"IE%O!;
1R=5!;F!"1
c7H2!;1i,
K =$ 3:-$:!>$ ( (3-B8$ -8$! !$&" *6=ZBA, E =ZB>& E 7:LS,K@1&DG<9 ,/Ba, # G Q<= &)Ba.>=?.>769 # 7@@A*:=ZXY7-,/9%@1& ^, @A&DG/9`G/I # G/@1*`@1*6=Z; $ .>G
E =^,/B>76.1= E =C9Y@1B ,/9:03@1*6= ,K(?(?=CLD=C.1G E =C@1=?.1B'&DB'&D9:(?LD7:06=?0_4 *6= E , & E 7 E =C.1.1G/. ,/B'B1*6G 9 &)9
\&);<76.1H= O6T4 S 76B>&D96;P@A*6= XY7-,/9%@1& ?=C0 0-,K@A, &DB NP( E LP( E _,/9:0 Zd L ( E 4 *6=C9 @A*6= aO
XY7-,/9%@A& ?=C0 06,K@+, &)B B E GGK@A*6=C0 @A*:=?9 @A*6= E , & E 7 E =?.1.>G<. # =?(CG E =CB d b ( E b ( E 8,K960
L E E JB1=C=\&);<76.1= O6Q4 U
4[ @W&)BN=CQ &)06=?9%@N@1*-,K@NB E GG/@1*6&D9:; @1*6=XY7-,/9%@1& ?=C0F0-,K@A,Z.1=C0676(C=?BW@A*:=
R G<B1&M@A&DG/9F=?B>@1& E ,K@A==C.1.>G<.?4
K =$ 3:-$:!>$ (3-B$ -$:! -B CE-/"R34 !$" *6= B>& E 7:LS,K@1&DG<9 &DB'.17:9 &)@1*@A*6=ZBA, E = R6,/.A, E =C@1=?.>B,/B06&DB>(?76B>B1=?0 &)9`@1*6= R6.>=CQ &DG/76B
B1& E 76LD,K@A&)G<9 = (?=CR:@@A*-,K@&)9 ,/060:&)@A&)G<9 @1GX 76,/9%@A& ?,K@A&)G<9 96G<&)B1= E =?,/B176.>= E =?9%@96G<&)B1=W&)B,/060:=?0
@AGa@A*6=WaO E =^,/B>76.1= E =C9Y@1B?4[*:= E =?,/B17:.1= E =?9%@9:G<&DB>=N&DB E G 06=CLD=?0 ,/B[.1,/9606G E 96G/&DB1= &)@1* ,
B>@A,/960-,K.10 06=]Q &S,K@1&DG<9 =?XY7-,/L @AG @A*6=Zd QK,/L)76=?B&D9P\, # LD=CB:4QLZ,K960 :4TS *6&)(+* &DB ,/060:=?0 @1GZ@A*:=
,/(C(?=?L)=?.>G E =]@A=C.a,K960; $ .>G 0-,K@A, # =CIUG/.1= &)@&DBXY7-,/9%@1& ?=C0_4 GP(C.1=^, @A= ,K9`=C96B1= E # LD= G/I.>=?B>76L)@1B
S
N position error
meters
0.08
0.06
0.04
0.02
0
2000
4000
6000
8000
E position error
10000
12000
14000
2000
4000
6000
8000
D position error
10000
12000
14000
2000
4000
6000
8000
10000
12000
14000
meters
0.03
0.02
0.01
0
−3
meters
0
x 10
−5
−10
−15
\&);<76.1= O64TS
+!"!;13
9H!"1FZ:617
!"%EO>!;Tc5H917!;f!;1B1!"
+O!;U
1=! w
F!;1g
c7H!"1i,
−3
N position error
x 10
meters
10
5
0
2000
4000
6000
8000
E position error
10000
12000
14000
2000
4000
6000
8000
D position error
10000
12000
14000
2000
4000
6000
8000
10000
12000
14000
0
meters
−0.005
−0.01
−0.015
−0.02
−3
x 10
meters
3
2
1
0
\&);<76.1= O64 U
>
%~!;!;1U
9>H2!"1F:61\
!XEO>!;Bc5H917!;f!;1P1!X:
91ET$}&+n
59!"1FZO!;T
N1R=5!"F!;1P
c5H!;1i,
S9O
E
North position error
max
mean
min
meters
2
1
0
0
5000
10000
15000
10000
15000
East position error
max
mean
min
meters
2
1
0
0
5000
Down position error
max
mean
min
meters
0.6
0.4
0.2
0
0
\&);<76.1= O64TM
5000
10000
number of acceleration samples (500 Hz)
08|!XLH
91
15000
912EN8!"12!"LH2D2:<"H:
s
1:
L2<;
s~!;!;1
9 929!"1
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B1& E 76LD,K@A&)G<9 &)B
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R:LDG/@G/I[@A*:= E , :& E 7 E E =?,/9 T,/960 E &D96& E 7 E , # B1G<L)7:@A=Z=?.1.>G<.GKI@A*6=Z=?96B>= E # L)=
,K@ =^,K(+* ,/(C(?=?L)=?.>G E =]@A=C.ZB1, E R:LD= @A& E = &)B
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R G<B1&M@A&DG/9 =?.>.1G<.N*6&D;<*:B,/.1= c M9N U E d c:d E 6,/9:0 c b9L.1G<.>B
,/.>=FLD=?B>B @A*-,K9c d E 4 NG E R-,K.1&D9:;@A*6= E =^,K9 =?96B>= E # L)= RTG&)@1&DG<9 =C.1.>G<. @AG @1*6=FRTG/B1&)@1&DG<9
=?.>.1G<. &)@A*:G<7:@ E =^,/B>76.1= E =C9Y@ 96G<&DB>= B1*:G B @1*-,K@ @A*:= E =?,/B176.>= E =?9%@H96G<&)B1= &)96(?.>=^,/B>=?B @A*:=
R G<B1&M@A&DG/9F=?.1.>G<. #%$ E G/.1= @A*6,/93,/9`G/.106=C.G/I E ,/;<96&M@A760:=/4
K K =$ 3:-$:!>$
!$" -B :4! 8 4 :$ -B"
*6= BA, E = 9-,^Q &D;<,K@A&)G<9 B1& E 76LS, @A&DG/9 &)@1* B E GG/@1*6&D9:; ,/960 96G<&)B1= ,/B 06&)B1(?7:B1B1=C0 &)9
@A*:= R6.1=]Q &DG<76BZG<96= &)BZ.>769 &)@1* ,(CG<96B>@A,/9%@H,/060:=?0 @AG`=^,/(+* ,/(C(?=CLD=?.>G E =C@A=C. E =^,/B>76.1= E =C9%@
E G06=CLD&)96; ,/9 ,/(?(C=?LD=C.1G E =C@1=?. # &D,/B?4 Q<=CLDG (?&)@ $ E =?,/B176.>= E =?9%@ABZ,/.>=P,KLDB1G B>& E 76LD,K@A=C0 #Y$
76B>&D96; @A*6= 9-,^Q &D;%,K@1&DG<9 IU.A, E =Q<=CLDG (?&M@ $ 0-,K@+, 06=?(C& E ,K@A=C0ÌU.>G E L/c<c @AGd^cP <4a,K9606G E
SL
meters
North position error
max
mean
min
0.2
0.1
0
0
5000
10000
15000
10000
15000
East position error
max
mean
min
meters
0.3
0.2
0.1
0
0
5000
Down position error
max
mean
min
meters
0.4
0.2
0
0
\&);<76.1= O64TN
5000
10000
number of acceleration samples (500 Hz)
08|!XLH
91
912EN8!"12!"LH2D2:<"H:
s
1:
L2<;
s~!;!;1
9 929!"1
E
56UQH11!"1FL
L1=!;F!;1P!"LH2<"!;1TO>!;P91E
2!"9
91EZ2!"9b
v=|9< l%!X
15000
,xn!X1F
(L
$'&+n
9H
9H
171!X:
17_:
9
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v=9
I$}&+no8
9H
2!"9I9<X:8
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I
-E!"@]I!"1T
N~!;!;1U
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:8
N$}&+n8
9H
:
17
17>1!X:
9,
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@A*:= 96G<&)B1= &DB ,/0606=C0 @1GF@A*6= 06=C(?& E ,K@1=?0 9-,^Q &D;<,K@A&)G<9Q<=CLDG (?&M@ $ 4 aB &)@1* @A*6= R6.>=CQ &DG/76B
B17 # B1=C(C@A&)G<9 -@A*:= B>& E 7:LS,K@1&DG<9P&DB.1769 L/c @1& E =?B?4
*6= .>=?B>76L)@1BG/I[@1*6= B>& E 76LD,K@A&)G<93,/.1=ZB1*6G 9 &)9 \&);<76.1= O64TN:4aaG/@1&D(?=
@A*6,K@@1*6= E , &
E 7 E R G<B1&M@A&)G<9 =C.1.1G/.N06.>G<R6B IU.>G E b E IUG<.@1*6= (?,/B1= &M@A* 9:G<&DB>= ,/960 &)@A*:G<7:@, # &S,/B@AG L)=?B>B
@A*6,/9 O%c ( E IUG<.@A*6=Z(^,/B>= &)@1* 96G<&)B1= # &D,/B ,/9:0 .1= E G Q &D96; @A*6= # &S,KB?4*6&DB'06= E G<9:B>@A.1,K@A=CB
@A*6,K@ 76B1&)96; @1*6= E =^,KB176.>= E =?9%@AB @AG .1= E G Q<= @A*6=3O # &D,/B 96G/@PG<96L $ .1= E G Q<=CBP@A*:=
O # &S,/B # 7:@',KLDB1G .>=?067:(?=?B@1*6=06.1&MI @WG/I8@1*6=RTG/B1&)@1&DG<9 =?B>@1& E ,K@A=CBW(^,K76B1=C0 #%$ B>=?96B>G<.96G<&)B1=/4
2W,/B>=?0`G<93@1*6=?B>=Z.>=?B>76L)@1B -G<96=
(?,/9`= RT=C(C@@1*6= ,^Q<=?.1,/;<= RTG/B1&)@1&DG<9F=C.1.>G<.',KI @A=C. <c B>=?(CG<9606B'G/I
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6
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roll
degrees
20
0
−20
1
2
3
4
5
6
pitch
7
6
azimuth
7
8
9
10
11
4
x 10
degrees
0
−10
−20
−30
1
2
3
4
5
8
9
10
11
4
x 10
degrees
100
50
0
−50
1
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2
3
4
5
6
7
8
number of gyro samples (1000 Hz)
9
10
11
4
x 10
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roll difference (gps−inu)
degrees
0.5
0
−0.5
0
10
20
30
40
pitch difference (gps−inu)
50
60
0
10
20
30
40
azimuth difference (gps−inu)
50
60
0
10
20
30
seconds
50
60
degrees
−0.5
−1
−1.5
degrees
0.4
0.2
0
−0.2
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gps vN − acc vN
m/s
0.2
0
−0.2
0
10
20
30
gps vE − acc vE
40
50
60
0
10
20
30
gps vD − acc vD
40
50
60
0
10
20
30
seconds
40
50
60
0.4
m/s
0.2
0
−0.2
0.2
m/s
0.1
0
−0.1
−0.2
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U/c
gps pos N − integrated pos
2
meters
1
0
−1
0
10
20
30
40
gps pos E − integrated pos
50
60
0
10
20
30
40
gps pos D − integrated pos
50
60
0
10
20
30
seconds
50
60
2
meters
1
0
−1
−2
meters
0.2
0
−0.2
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Ud
gps vN − acc vN
m/s
0.05
0
−0.05
−0.1
0
10
20
30
gps vE − acc vE
40
50
60
0
10
20
30
gps vD − acc vD
40
50
60
0
10
20
30
seconds
40
50
60
0.1
m/s
0.05
0
−0.05
−0.1
0.2
m/s
0.1
0
−0.1
−0.2
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0.3
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0.2
0.1
0
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0
10
20
30
40
50
60
0
10
20
30
40
50
60
0
10
20
30
seconds
50
60
meters
0.1
0
−0.1
meters
0.2
0
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meters
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20
30
40
50
60
70
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0
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20
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GPS pos E − integrated pos
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40
60
80
100
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GPS pos D − integrated pos
160
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0
20
40
60
80
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20
40
60
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140
160
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140
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40
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(?G/96B1=C(?7:@1&)Q<=3,/L)G<96; @A.1,/( R6LS,K@>IUG<. E R G<B1&M@A&)G<9R G<&D9%@1B B1& E 76LS, @A=?B , ?& E 7:@1* BA, E R6L)= B1R6,/(?&)96;
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0-,K@+, # ,/B>=?0 G<9 @1*6=H@ NG W, $ 06&)B>@A,/96(?=HIU.1G E @A*:=PR6LD,K@1IUG/. E @1G3@1*6= @+,/.>;<=C@ \,K960
IU.1G E @A*6=@+,K.1;<=]@@1G@A*6='&D06=?,/[email protected],/( ' 4'G N=CLDL6@1*6=a06,K@+,
(^,/9 # =a(CG E R =?9:BA,K@1=?0 ,KL E G@
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1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
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range bin
range bin
abs range−compressed target return
400
600
azimuth sample
800
1000
200
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06=?LD, $ QK,/.>&S,K@1&DG<9
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abs of azimuth compressed target
2.5
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*-,/.>0 N,/.1=P=?.1.>G<. \,`.>=?(?=C&)Q/=?0 R67:LDB1= G<. LD&)96=H(^,/969:G/@ # = .>&)@>@A=?9 @AG306&DB 4 76(+* ,`R:76LDB>=P&)B
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(?G E R =?96B1,K@A&)G<93,/(?(C76.A,K( $ 4
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R6LD,K@1IUG/. E
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' ' (+*6,/96;<=CB?4*6= R G<B1&M@A&)G<9 G/I ,K9 ,/9%@A=?9:9-, &D9 @1*6= 9-,^Q &D;<,K@A&)G<9PIU.1, E =a&DB =?XY7-,/L @AG @A*:=
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9-,^Q &D;%,K@1&DG<9 IU.A, E =Z,/9%@A=C969-, L)=CQ<=C.
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LD=]Q<=C. ,/. E @AG @A*6= 9-,^Q &D;%, @A&DG/9 IU.1, E = LD=CQ/=?.Z,/. E 4 9 @A*6&)B E ,/9:96=?.@A*:= @1.A,/96B E &M@ ,/9%@A=C969-,
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=?B@A& E ,K@1=?0,/B c L
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