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In the Relationship Definition dialog s Relationship SQL tab, shown in Figure 15-28, Framework Manager will generate the SQL necessary to retrieve all of the query items from the two query subjects specified, joined by the link criteria in your relationship definition You can check the SQL to verify the join criteria You can also click the Test button to have Framework Manager execute the SQL to return a sampling of the rows in the result set You can then look at the results to see if the relationship criteria return the expected results

Given the initial estimates of Section 103, we can approximate the initial covariance matrix of the error state x = [ , xg , xa ] The initialization procedure assumed that the vehicle was stationary, non-accelerating, and non-rotating, over some initial period of time t [t1 , t2 ] with T = t2 t1 With the de nition of the error covariance matrix there is a con ict between the symbols used to indicate [ ] and error covariance In the balance of this chapter, P with no subscript or superscript denotes [ ] while any use of P to denote an error covariance will contain a subscript of a superscript See for example eqns (1063) or (1066) The initial values of the gyro biases are estimated by averaging the gyro outputs 1 T g u( )d (1062) xb (t2 ) = T 0

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1 With b = 0 and T small relative to g so that xg can be considered ib constant over the initialization period, then

The easiest way to look at the relationships in your model is graphically One way to do that, of course, is with the Diagram view in the Project window If your model is relatively small, you might be able to see all the tables and relationships in the Diagram view You can even use the zoom controls on the toolbar or choose Diagram | Zoom to try to make the entire diagram fit so you can see everything though bigger models are difficult to see if you try to display the whole thing in the window Fortunately, a few features are available to help you find and see what you need

Position of laser/sensor Figure 16-3 This is what an external observer sees as the laser-clock-equipped

g E xb (t2 ) g var xb (t2 )

If you want to find a particular table in the diagram, right-click the query subject in the Project Viewer tree and choose Locate in Diagram The display in the Project window will automatically shift to move the selected query subject to the center of the view

2 g

TIP If you have located the query subject that you want to see, you can set it as the focal point of the

dilated Let tship be the number of seconds that appear to elapse on the moving ship as 1 s elapses as measured by a clock next to us as we sit in our Earth-based observatory Let u be the speed of the ship as a fraction of the speed of light Then tship (1 u2) 1/2

(1063)

diagram by selecting Diagram | Set Focal Point or by clicking the Set Focal Point button on the toolbar (see Figure 15-26) That will place the selected query subject on the left side of the diagram with all of the related query subjects branching off to the right, making them easier to see while the whole diagram is showing

where I is the identity in R3 3 Eqn (1063) is derived in the same manner as was eqn (485) The shorthand notation Pgg = g I will be used T subsequently 1 With ab = 0 and T small relative to a so that xa can be considib ered constant over the initialization period, then with gb (t2 ) de ned as 1 T T 0 ya ( )d we have that gb (t2 ) = gb xa 1 T

15:

The 1/2 power is an alternative and popular way to denote the square root The time dilation factor (let s call it k) is the reciprocal of this: k 1 / [ (1 u2) 1/2 ] (1 u2)

2

FIGURE 15-28

a ( )d ;

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