I have values for the variables (C, v, g, w at all sample points) but I do not know how to evaluate the integral. This equation is supposed to be implemented on a computer as part of a larger algorithm for navigation purposes. I have a feeling that the gyroscope sensor reading and or the accelerometer reading may be required to evaluate the integral but I am uncertain.
C is a 3x3 rotation matrix from subscript frame to superscript frame. Subscript and superscript n means the east north up frame.
m is the discrete point in time at the start of the data and k is the current discrete point in time.
v is a 1x3 vector of velocity, g is a 1x3 vector of gravity, w_ie_n is the 1x3 vector of Earth rate. X means the cross product. t refers to time.
The equation comes from the journal article:
A New Fast In-motion Coarse Alignment Method for GPS-aided Low-cost SINS (Yulong Huang, Yonggang Zhang)
How would I evaluate that integral?