Acceleration and angular velocity in the DR (Dead Reckoning) Equation

Acceleration and angular velocity to establish a mathematical expression for the DR.
Need a little more complex mathematical expressions.
Of course, simply create a fixed frame, the interval a linear interpolation (linear nterpolation) but if you,
An acceleration a, angular velocity w, the current speed v, the direction of h. He 's now.
Each unit of acceleration m / s ^ 2, the angular velocity rad / s, the speed m / s, the direction rad (y axial direction clockwise).
Current time t when the velocity vector along the x axis gapeunyo ingredients.
vx = (a * t + v) sin (h + w * t)
Is.
The t hours in order to calculate the distance between what are we supposed to use the integrator.
x = int (0 .. t) (a * t + v) sin (h + w * t) dt
For the above calculation using partial minute is to calculate.
If you do as a function of x, t will appear.
Please note later time points in the angular velocity w in the form of the denominator and the absence of when to come out just because the angular velocity is calculated by dividing to haejusyeoya.
Please refer to the actual figure calculated mathematical equations.