AI2Rate:

Path: SC/Sensor

% Converts attitude increments to rate. 
   To prevent transients set aOld = DupVect(a,m) upon initialization. You can 
   initialize by passing AI2Rate only 2 or 3 arguments.

--------------------------------------------------------------------------
   Form:
   [w, aOld] = AI2Rate( a, dT, m, aOld )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   a              (n,:)     Attitude increments
   dT             (1,1)     Time between increments
   m              (1,1)     Order (0, 1 or 2)
   aOld           (n,m)     Last m attitude increments
   

   -------
   Outputs
   -------
   w              (n,:)     Estimated rate
   aOld           (n,m)     Last m attitude increments

--------------------------------------------------------------------------
   References:	  Wong, E.C. and Breckenridge, W.G. (1983). Inertial
                 Attitude Determination for Dual-Spin Planetary
                 Spacecraft. J. Guidance 6(6), 491-498.
--------------------------------------------------------------------------

Children:

Common: CommonData/SwooshWatermark
Common: General/CellToMat
Common: General/MatToCell
Common: General/Watermark
Common: Graphics/NewFig
Common: Graphics/Plot2D
Common: Graphics/PltStyle
Math: Linear/DupVect

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