L | Latitude | |
νn | North velocity | |
νe | East velocity | |
νd | Down velocity | |
Re | Earth radius | 6353000 m |
fn | Measured specific force (North direction) | |
fe | Measured specific force (East direction) | |
fd | Measured specific force (Down direction) | |
Ω | Earth rotation rate | 7.2921151467 × 10-5 |