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Introducing the parameter
t = 2 ζγ
(5.74)
which will be shown later to be very important, it follows that
t DLS t TLS t OLS = 0
(5.75)
where the equal sign is valid only for compatible systems ( γ min = 0). In the x
reference system, the position of the solution is given by eq. (5.45) for γ = γ min :
V
I n 1 q
x sol
min ,
ζ ) =
2
γ
ζ
(5.76)
min
which in the rotated z reference system (no translation) becomes
z sol min , ζ ) = 2 γ min ζ I n 1 q
(5.77)
Thus,
$
z n
q n
λ n
q n
λ n γ TLS
( z n )
z sol n
(5.78)
%
b T b
q n
z n
where γ TLS = k / b T b + λ n > 0 and therefore | z n | z n .
Proposition 105 (Relative Positions)
i
=
1,
...
, n,
z i ≥ | z i | ≥ z i
(5.79)
which implies, in the x reference system, the same inequalities for the modules:
x 2
2 x 2
x
(5.80)
where the equal sign is valid only for compatible systems.
Proof. From eq. (5.78),
q n
z n
= Hq n
(5.81)
2 λ n b T b
q n
b T b + λ n
1
λ n
where
b T b + λ n
λ n b T b + 2 λ
H = 2
(5.82)
n
+ q n
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