If the floating coordinate system is suppressed and the dynamic equations are expressed in the

absolute coordinate system, then the mass matrix can be reduced to a constant matrix, but the stiffness matrix becomes highly nonlinear.

Based on previously developed block diagram showing the planned method of the system operation, you can immediately pull out of these variables which are necessary when developing a BLIS model: x and y coordinates of the absolute position of the Bytel vehicle, rotation of the vehicle in the absolute coordinate system (vehicleRot), speed of the vehicle ([V.sub.v]), the value of distance of detected obstacle (rangeTIS), and the relative speed of vehicles were determined using the TIS sensor ([V.sub.dopp]) and the angle in which the obstacle appears (thetaTIS).

(ii) Rotation angle of the vehicle in absolute coordinate system (vehicleRot)

Once sufficient amount of measurements is collected, LRF can be migrated to

absolute coordinate system as each of its NN is connected to at least three other NN.

One is the three-dimensional absolute coordinate system OXYZ, and the other is the dynamic coordinate system oCqv that rotate about the absolute coordinate.

where [[X Y Z].sup.T] is the three-dimensional component of the displacement vector in the absolute coordinate system and [[[xi] [eta] v].sup.T] is the component of the displacement vector in the dynamic coordinate system.

First, consider the representation of the platform (car-like platform) in the

absolute coordinate system associated with the original position and orientation of the platform.

where [d.sub.ref] is a desired location in the

absolute coordinate system and d is the current position in the

absolute coordinate system.

-0.0000138571 sub.2] 56 e * 0.0012519867 57 [M.sub.0] [rad] 1.4838736773 58 [n.sub.0] 0.0001549725 [[s.sup.-1]] Table 3 Luni-solar accelerations in an

absolute coordinate system and orbital parameters of the GLONASS satellite GLN20 at epoch [t.sub.0] and [t.sub.1], 17 October 2011.

After demonstrating this, ask students how they might do the algebraic and trigonometric formulas for points based on the

absolute coordinate system. This is much harder to do, but the estimation and calculations make it precise and worthwhile.