The global coordinate system is an

inertial coordinate system OXYZ and is connected with the earth.

If the rotation of the Earth is neglected, the ENU reference coordinate system can be considered as an

inertial coordinate system.

In Figure 2, the definition of the coordinate system is as follows: the global

inertial coordinate system [summation]0 is established and called the logical axis coordinate, the local coordinate system of vibration isolator [summation]V is described as the physical axis coordinate, and [summation]C is the centroid

inertial coordinate system.

However, the bus vibration signals collected are dependent on the smartphone own coordinate system; the signals will vary with the posture change of the smartphone, and the drift of bus acceleration signals is introduced in the

inertial coordinate system in which the actual situation of the bus vibration is showed.

EquationAre pe components of pe spacecraft velocity vector defined in pe Earp Centered

Inertial Coordinate System.

We denote the fixed

inertial coordinate system as [x.sub.2][y.sub.2][z.sub.2] and the moving noninertial frame of reference as [x.sub.1][y.sub.1][z.sub.1], which is rigidly bounded with the crane boom B[O.sub.2].

For the phases where the foot is moving, we assume a prediction of the position coordinates in the

inertial coordinate system, following constant acceleration motion between samples for the position, circular motion for heading, and constant bias models.

(iv) The origin of the

inertial coordinate system is in the same position as the geometric center and the centroid of the quadrotor.

* The wheel velocity in direction of the wheel axis with regard to the

inertial coordinate system must have zero value.

"The

inertial coordinate system would be the escape system," Moller explains.

As shown in Figure 2, the reachable operating space of the manipulator for extracting ORU in the

inertial coordinate system is

But the star sensor can only output attitude angle of aircraft relative to the

inertial coordinate system for aircraft control system.