The Navigation Equations: Computing Position North, East, and Down

In this video we show how to compute the inertial velocity of a rigid body in the vehicle-carried North, East, Down (NED) frame. This is achieved by rotating the velocity expressed in the body frame through the Euler rotation sequence using the direction cosine matrix (DCM). This allows us to compute the position North, East, and down of the vehicle which is useful for navigation or other applications (such as determining the altitude of the vehicle which can in turn be used to more accurately model air density).

Topics and timestamps:
0:00 – Introduction
3:30 – Rotating the velocity vector using the DCM
13:01 – Block diagram to calculate NED position
39:14 – Matlab/Simulink implementation
45:59 – Ramifications on trim calculation

Lecture notes and code can be downloaded from https://github.com/clum/YouTube/tree/...

References:
-Expressing Vectors in Different Frames Using Rotation Matrices (   • Expressing Vectors in Different Frame...  )
-Euler Angles and the Euler Rotation Sequence (   • Euler Angles and the Euler Rotation S...  )
-A Nonlinear, 6 DOF Dynamic Model of an Aircraft: the Research Civil Aircraft Model (RCAM) (   • A Nonlinear, 6 DOF Dynamic Model of a...  )
-Trimming a Model of a Dynamic System Using Numerical Optimization (   • Trimming a Model of a Dynamic System ...  )

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