SIR 2005-5045 Equation 4

Scientific Investigations Report 2005–5045: Equation 4

The attitude correction angles, δ_k, ε_k, and ζ_k (fig. 5), are rotations about the kth sensor’s Z, Y′, and Z″ axes, respectively, to be calculated from the spin data:

[

B₁

B₂

B₃

]

k

=

[

cos ζ	sin ζ	0
-sin ζ	cos ζ	0
0	0	1

]

k

[

cos ε	0	-sin ε
0	1	0
sin ε	0	cos ε

]

k

[

cos δ	sin δ	0
-sin δ	cos δ	0
0	0	1

]

k

[

F₁

F₂

F₃

]

k

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