, .
, , . . .
, . . 2.21, ϕ λ, - VN VE .
, VN , , R, , VN/R EW W. VE, r = Rcosϕ, , , VE/Rcosϕ. , , .. , , .. PNPS PN. ( ), , . ω1 ω2 ( ) VN/R VE/Rcosϕ .
. 2.22, ONEn.
(redundancy) , , , , ( ). , .
- (satellite compass), , GPS ;
- - , (inertialstrap-downsystems);
- (fluxgate heading sensors). : +, +, +.