Algorithms for the sun sensor calibration, sun sensor and inclinometer alignment, sun image
centroid extraction, and heading determination are presented in detail.
This model comprises a dynamic model of the
centroid motion and a dynamic model of the rotation around the
centroid.
The
centroid coordinates of the focal spot could be calculated by (13), where f(h, u) is the flux density of the grid hu on the plane receive.
where [mathematical expression not reproducible] are the
centroid coordinates of a certain suitability type in [t.sub.i] and [t.sub.i+1] year, [t.sub.i] and [t.sub.i+1] are the beginning and terminal years.
The main idea is to define k
centroids, one for each cluster.
where [m.sub.c] is mass, [a.sub.c] is vehicle body
centroid acceleration, L is vertical distance between suspension
centroid and vehicle
centroid, is pitching angle of vehicle body, [F.sub.1i] is acting force exerted by suspension on vehicle body, i = fl, i = fr, i = rl and i = rr represent left front wheel, right front wheel, left rear wheel and right rear wheel respectively.
The preoperative
centroid was 0.97 D x 91.97[degrees] [+ or -] 1.74, (p = 0.95), and the postoperative
centroid was 0.75 D x 98.59[degrees] [+ or -] 1.50, (p = 0.82).