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A (non-rotating) accelerometer with no applied forces is in free-fall with p = G; therefore, the accelerometer output is f = 0 An accelerometer in stable orbit around Earth, is also in free-fall It is constantly accelerating towards Earth with acceleration p = G; therefore, the accelerometer output is again f = 0 Consider an accelerometer at rest on the Earth surface In this case, the accelerometer is subject to the Earth s gravitational eld and is caused to rotate about the Earth at the Earth rate ie De ning the origin of the inertial frame to be coincident with the Earth center of mass, we have that p = ie ie p where ie = [ ie ]; therefore, the accelerometer output is f = ie ie p G, (1113)

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which is the inertial force applied by the supporting structure to the case to maintain the case in a stationary Earth relative position When using an accelerometer, the user must compensate the speci c force output for the e ects of gravity To prepare for the subsequent analysis, de ne the local gravity vector as g = G(p) ie ie p (1114)

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The local gravity vector indicates the direction that a weight would hang at a location indicated by p Figure 112 shows the relation of these three accelerations The vector magnitudes are not drawn to scale In reality 1 ie ie p 300 G In this gure, and c denotes geodetic and geocentric latitude, respectively The speci c force vector can be represented in any desired frame of reference When this is done, the analyst should be careful with terminology and interpretation For example, the speci c force vector in the ECEF

2:

which is the inertial acceleration minus gravity both represented in ECEF frame If we let pe represent the position vector in the ECEF frame, it is d2 important to note that Re pi = dt2 pe , see Section 1122 i

The purpose of this section is to derive an expression for the e ect of position error on the computed navigation frame gravity vector The second term in eqn (1114) is straightforward; therefore, this section focuses on the term G(p) = GM3 p p The analysis of this section will be used later in this chapter; however, on the rst reading of the chapter, the majority of this section may be skipped In that case, it is recommended that the reader proceed directly to the nal result of eqn (1122) and the discussion that follows it Denote the actual and computed vehicle locations relative to the Earth center of mass by p and p, respectively The error between these locations is p = p p Using the rst two terms in the Taylor s series expansion, we obtain the linear error model g = G(p) G( ) = p where G p =

SQL access Table scans, fast full-index scans, partitioned index range method scans, sorts, aggregations, set operations, external table access Joins DDL DML TABLE 2-1 Nested loop, sort-merge, hash, partition-wise joins CTAS (CREATE TABLE AS SELECT ), CREATE INDEX, REBUILD INDEX INSERT-SELECT, UPDATE, DELETE, MERGE

(1115)

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In order for parallelism to be implemented, a database has to divide the data that is the target of a task into smaller groups for each separate parallel process to work on The Oracle Database uses the concept of granules Each granule can be assigned to a single parallel process, although a parallel process can work on more than one granule NOTE In fact, parallelism can be more efficient if each parallel process works on more than one granule When a process finishes its work on a granule, the process can get another granule to work on This method of distribution avoids the potential problem of the convoy effect, when the completion of the overall task is only as fast as the slowest parallel process If a parallel process completes its work, rather than sit around waiting for its peers, the process simply begins work on another granule With Oracle, a granule can either be a partition or a range of data blocks The block-based granule gives the Oracle Database more flexibility in implementing parallelism, which can result in more SQL statements and tasks that can benefit from parallel operations

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