Ouldali AbdelAziz *.Benzerrouk Hamza **
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1 Copso ewee eeded l le d Sg-os l les ppled o eged go sse INS el Ngo SseGS Glol osog sse w selee All Ouldl AdelAzz * Bezeou z ** *Ml pole sool o Alge-eleo sses oo e-l: Azz_ouldl@oo **Sd Dl Ues o Bld- Alge-Cool d sses oo e-l: ezeouz8@ol As: e el go sse es e deeo o poso elo d ude o eles usg ol el sesos eleoees d goees o spdow el go sse INSGS s poe o e e ee es o go due o e so e u o INS lled o e log e u o GS s ego ws esed oug o le les s eeded l le F d Sg-pos l les SF o wee oped s wo d wee ppled o de ode ego possle eed selee ll SA odos ewods: Iel go sse Glol posog sse eded l les Sg pos l les INODUCION e eged sses INSGS wee wdel used o o l d l pplos Dug ese ls es dee eues o egos wee deploed d esged usg seel lgos leg eo le d o le les wee ppled o ese dee se go opouds s poso elo d ude o e eles udewe e e os popul le used s d o ego ws d s s e oo e eeded l le F e o le equo o el go pl e used o o le leg os o e F s lol le w uses lezo oug lo deelope e s ode ol e se o o dee o le uo ge ese po eg sgul po d o ee o e F so e w oes esos wee odued o sle s poles e os eesg les e e Sg pos l les SF V de Mewe W d S J Jule o Useed l Fles UF d Cel Deee l Fles CDF e e SF s se s o e o le uo w s ese u e GV d e des o pol usg dees sg pos o ese e s d e seod ode e oe o e GV so e es d e oe o e se eo e esed ee e F euse e u o ese d o esos s e seod d e d ode o lo deelope ese lgos e o le equos e del use o popge e sg pos oug e se sse equo d e oseo equo e UF uses dees splg ppo o pue e e d oe eses w l se o sple pos Fo e CDF dops lee eod lezo lled el deee ppoo le e UF CDF geees seel pos ou e e sed o g e oe log e deso lso elues o le uo wo dee pos o e deso o e se eo e dded ppope ose[ e SF e poweul esos d e ee o e supeo lee o e F seel pplos We wll see s wo e dges o e eso odg o eged go pplo AMAN FIING I e el s d oug ge eos o l ese odued Mssuses Isue o eolog Wee ee eesed e pole o leg d ge o e s le es s e ''Wee le '' I 96 l d Bu odued le ees e Wee le o wo essel pos: - e le s euse le - e le e ppled o o so poess e l le F ws deeloped le odel e pesee o dde Guss ose owee e ssupo o ol ose s o ese o e uog o e le I suos e F s sll ous s-à-s e ue o ose pul ose wose powe s low owee e ssupo o le es po
2 l leg lgo e le l le s peseed ude s J: Ipo oe : e lzo s o oe po e le se o esue e oegee o e le eded l le F I s e os used eque o le leg o e e o lulo o e lgo e o le d d e esuee uos e ppoed o e s ode o lo deelope oud e ue eses e lgo o F s doe s sj: Sg o l les e sg-pos l les e used dees splg pos o pue e e d e oe o e ese se eo odg o ose deos Cssds J 6 we pese e lgos o e UF d e CDF esp le e ollowg poscos6: Useed l le lgo Fo e UF e popgo wll do oe sep d popged oug e o le uo o e d d esuee equos o e sses We ope w e CDF lgo : Ilso : e edo : Q Φ Φ Φ Fleg : Z Ilso : e edo : Q F F Fleg : Z Ilso Fo - sg pos γ γ popgo o e sg pos oug e sse equo u Fleg β α γ < < e β α
3 Cel deee l le Fo e CDF s e ppoel e se de s UF lgo e deee o e seps o popgo o e sg pos oug e o le uos o d o e sse d esuee equo ed s e o le ppoo o ese uos usg e dded deees V de Mewe Geell we use e opl lue o NogdM NAVIGAION SSMS We e o pese el e spdow el go sse d e glol posog sse w e eged usg s l les: Iel Ngo Sse - INS A s we e o dee e dee es w e used el equos: Fg el go es ee e ou dee es : el e e e e Ngo e d od e -e eso o spdow el go s doe s s Sge 998: e ude o e ele s oed usg e ollowg ego: q p q C pq ρ s -s s s s Aodg o e deo es d ude ego s : Ad Fo poso d elo ego we e o use e ollowg equos No s d Dow deo o go e : - M B N ϕ ϕ Wee ϕ s e eo o e ee posos: lude logude d lude o e ele s s s s s s s s s s s s s s s se se s s s pq C & & & Ilso Fo - Sg pos popgo o Sg pos oug e d uo u Sg pos o esuees ] [ 5 Upde d leg : :
4 M : Med dus o e e WGS 8 sse : gel dus o e e WGS 8 sse B s we ege e ls equo o o e poso e go e usg e ollowg equo: ϕ M N & ϕ os el sesos Bs : Sle os: No le: - B e el go sse peses soe dges d dsdges s ollow : -Adges: oplee oupu soluo good u dug so e g d e d sll sze -Dsdges: u deese e log e g ses d olgo eel d o lzo So e e see geell e el go sse we wll o dee el e GS wog s e ollow pgp Glol osog Sse -GS e Glol osog Sse GS s speoe do go sse Is wold-wde oege ll d g u es oe o so s os eoluo deelopes I oe go s oplee ess o e el go sse e eelle dg soue GS esuees e ppl ode o GS esuee s e ode esuee ode Code esue: oupu oupu oupu oupu D 6 : lg elo ρ : pseudoge ewee gps eee d gps selle I ou wo e de used o ege INS wee poso d elo o l GS oupu e selle d e poded WGS8 oodes sse Bo 5 Wee GS s seel dges d dsdges s ollowg: pu pu oupu oupu δ δ pu pu pu pu s s pu pu z z δ ρ δ 5 Adges: peso dug log e solue poso d opeol odos Dsdges: ulp poles depede o e Ued se s Depe o Deese d ospe dels INGAD SSM e gol o dzo s o oe wo sses w e dges o oe e e dsdges o e oe d e es e dzo o su sses sould led o e eo o ew opl pog e eeeess o e wo eged d opzg e espee ess e e w e le We ge e ppl odes o INSGS ego : -No oupled ode -Ide ode loosel oupled -De ode Mode o INSGS ego I ou wo e de ode ws used o plee e INS o le odel o d se equo d le odel o GS esuee equo e ollowg gue sows e de ego ode J : INS GS No le Fles Fg De ode ego s ode pl o use o le esos euse ee e ole equos o ege s s doe e ollowg pgp Se equos o dsee de ode oso Velo gles I s se we e oose o ege e posos usg e dses o es d dow wou use lude logude d lude s peseed peous pgp e eloes e eged o es d dow deos d e gles ego pode w p d oll gles o e ele e se equos dsee e ould e we s e ollowg os SueS 999: p p w p { } C δ g w 7 δ w
5 Wee u w s e se eo o ese d os ee posos ee eloes d ee gles o eles ude SueS 999 [w Wee w [w ] σ ] Q σ e oseo equo o GS s le s: Z V Wee oseo s s ollow: Wee : Q 8 9 [V ] [V V ] Q s e ose oe o GS esuee e ose s ssued we Guss dde ose 5 SIMUAIONS I ou wo e duo o sulo ws es d ll F UF d CDF wee pleeed usg MAAB sowe SA selee All odos we ssued ll oses e we Guss oses e sulos d e s ollowg: Sple e 5s eee ose eleoee s5-g goee s- s elo5- s Ue l No dse : Ue l s dse : Ue l Dow dse : Ue l VN : 5s Ue l V : 5s Ue l VD : s Ue l ϕw: Ue l p : Ue l oll : d GS d SA odos e ugeed o o dug seods o posos o 5 s o 5s o eloes d o o o udes gles oeg e lzo sep o e ee les ws e se d e ollowg lue: 8% o e ue lues o e se eo GS d wee used e eque o z d e el ego poess ws de e eque o z We osee e ollowg gues e sulo esuls d oe e esl elow All e esuls e sowed o e e 9 ollowg gues esse Nod esse s Dse Nod Dse s Dse Vele eps eps eps esse INS esse éelle GS F CDF UF esse NOD s eps eps esse INS esse éelle GS F CDF UF dse NOD s eps dse s s eps dse ele s eps esse s s eps poso INS poso éelle GS F CDF UF Fg No dse ee dug e s poso INS poso éelle GS F CDF UF Fg s dse ee dug es poso INS poso éelle GS F CDF UF Fg5 Vel dse ee dug e s Fg6 No elo eso s dug e s eps Fg7 s elo eso s dug e seod s
6 esse Dow 5 5 esse INS esse éelle GS F CDF UF esse Dow s eps s se d usg s odel do peo sgl e F euse e o le s ol pese e d se equo w s used ol o e e pedo sep so e uue wo ese lgos wll e used d ppled INSGS ego usg o le esuee odel o deee d e e eoel esuls opg es d es o e eso gge eps Fg8 Dow elo esos dug e seod s eps gge s eps le s eps gge INS gge éel GS F CDF Fg9 p gle eso degees dug le seod s UF le INS le éel GS F CDF UF FNCS Bo g; Cu gu; Ce gzou 5; Sg- o l Fles o GS Bsed oso so Ioo Couos d Sgl oessgf Ieol Coeee o - ges: 7 Co Seog u; W S Co 6 ;ous posog eque low- DGS o ld go; Isueo d Mesuee I sos o Volue 55 Issue ges: - Cssds J 6 Sg-po l leg o eged GS d el go Aeospe d leo Sses I sos o Volue Issue ges: So edo l Fleg d Neul Newos pe 7 - e Useed l Fle A W d de Mewe pges 8 Adpe d eg Sses o Sgl oessg Couos d Cool Wle le - - J Auooous Ngo o Aoe Applos D ess Ausl Cee o Feld oos e Ues o Sde eps Fg w gle eso degees dug e seod s Nogd M N oulse d O New Deelopes Se so o Nole Sses Auo 6: ouls s eps ouls INS ouls éel GS F CDF UF SgeG998 Spdow Iel Ngo Iego Algo Desg : Aude Algos Joul o Gude Cool d Ds :9 8 ouls - - SueS 999 Aded Iel Ngo Sses o Auooous d Veles D ess Ausl Cee o Feld oos e Ues o Sde eps Fg oll gle eso degees dug e seod s 6 CONCUSION Ae esg e ous lgos o ese ole odel we olude ll ese lgos e woed well d ged good esuls wou el dules w e eeped UF w ee pees o se popel I s eeoe wo og would e peele o plee CDF UF se sows e peoe d opeg does o pees u dl e o eeuo s lle oe Fo e elo SF oe ee soluos e F geel odos u we SA ws odued we oseed duo o e o eu o e ue lues o e ese se eo ell e SF V de Mewe W d S J Jule Sg- o l Fles o Nole so d Seso- Fuso: Applos o Ieged Ngo I oeedgs o e AIAA Gude Ngo & Cool Coeee odee I
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