------------------------------------------------------------------------ Implements yaw/roll gyrocompassing attitude estimation. Computes the angle derivative and state transition matrix for roll-yaw gyromcompassing. This system works when you have rate information and roll and pitch angles. You can then estimate yaw. This works if roll and pitch rates are small. ------------------------------------------------------------------------ Form: [xDot, phi] = YawRollGyroCompassing( x, omega, wo ) ------------------------------------------------------------------------ ------ Inputs ------ x (3,1) Angle vector (rad) omega (3,1) Body rates in the body frame (rad/sec) dT (1,1) Time step ------- Outputs ------- xDot (3,1) Angle derivative phi (3,3) State transition matrix ------------------------------------------------------------------------