In this section, the case of constant velocity vector is analyzed. The relative radial speed is not necessarily constant.
By specializing (7.34) with
(7.67)
with i 1 ⊥ i 2 (without lack of generality) and ||i 1|| = ||i 2|| = 1, we get (Figure 7.5)
(7.68)
where the first equality is due to (7.35). RX is moving with constant velocity vector . The (non-constant) radial speed is
(7.69)
and it results that
(7.70)
By specializing (7.37) with
(7.71)
with i 1 ⊥ i 2 (without lack of generality) and ||i 1|| = ||i2|| = 1, we get (Figure 7.6)
(7.72)
From (7.38) we have
(7.73)
That is,
(7.74)
Hence
(7.75)
with B2 − 4AC ≥ 0 since . Thus,
(7.76)
where the solution with “+” sign provides a positive delay D(t). This result is in accordance with (Quinn and Hannan 2001).
52.15.129.90