1. 3Milne, E.A., Vectorial Mechanics, Interscience, New York, 1948,
2. 2Britting, K.R., Inertial Navigation Systems Analysis, Wiley, New York, 1971. ,Chaps.1-3, 10.
3. 4Schuler, M. "The Disturbance of Pendulum and Gyroscopic Ap-P"*™ by the Acceleration of the Vertical," Physikalische Zeitschrift,Kiel, Germany, Vol.24, July 1923, pp.334-350
4. see also G.R. Pitman Jr., Inertial Guidance,John Wiley & Sons, Inc., New York, 1962, App. A, pp. 443-454.