Table 1 Summary of notation

(X, Y)

Global position

(x, y)

Local coordinate system with x aligned with the stem

v

Velocity

ψ

Course, defined as the angle between the global X axis and the local x axis, as would be shown by a compass

ω

Turn rate, defined as ψ

ϕ

Difference between course and velocity vector ("crab" angle), which is mainly due to streams and wind

$\left(m_X^i,m_Y^i\right)$

Global position of landmark i

r ⁱ

Range from the strap-down body-fixed radar to landmark i

θ ⁱ

Bearing from the radar to landmark i