Global navigation satellite systems, inertial navigation, and integration
Author(s)
Bibliographic Information
Global navigation satellite systems, inertial navigation, and integration
John Wiley & Sons, c2013
3rd ed
- : cloth
Available at 2 libraries
  Aomori
  Iwate
  Miyagi
  Akita
  Yamagata
  Fukushima
  Ibaraki
  Tochigi
  Gunma
  Saitama
  Chiba
  Tokyo
  Kanagawa
  Niigata
  Toyama
  Ishikawa
  Fukui
  Yamanashi
  Nagano
  Gifu
  Shizuoka
  Aichi
  Mie
  Shiga
  Kyoto
  Osaka
  Hyogo
  Nara
  Wakayama
  Tottori
  Shimane
  Okayama
  Hiroshima
  Yamaguchi
  Tokushima
  Kagawa
  Ehime
  Kochi
  Fukuoka
  Saga
  Nagasaki
  Kumamoto
  Oita
  Miyazaki
  Kagoshima
  Okinawa
  Korea
  China
  Thailand
  United Kingdom
  Germany
  Switzerland
  France
  Belgium
  Netherlands
  Sweden
  Norway
  United States of America
Note
Originally published under title: Global positioning systems, inertial navigation, and integration
Includes bibliographical references and index
Description and Table of Contents
Description
The Global Positioning System (GPS) may be used in conjunction with Inertial Navigation Systems (INS) for tracking and navigation and may be applied in the civilian and military sectors to track devices, to locate people and objects, in the air, on the ground, or at sea. The book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. With a focus on providing readers with solutions to real-world problems, the book offers numerous detailed examples and practice problems, as well as software that demonstrates Kalman filter algorithms with GNSS and INS data sets. The book is accompanied by a Solutions Manual for instructors.
Table of Contents
Preface xxvii Acknowledgments xxxi Acronyms and Abbreviations xxxiii 1 Introduction, 1 1.1 Navigation, 1 1.2 GNSS Overview, 4 1.3 Inertial Navigation Overview, 10 1.4 GNSS/INS Integration Overview, 30 Problems, 32 References, 32 2 Fundamentals of Satellite Navigation Systems, 35 2.1 Navigation Systems Considered, 35 2.2 Satellite Navigation, 36 2.3 Time and GPS, 46 2.4 Example: User Position Calculations with No Errors, 48 Problems, 51 References, 53 3 Fundamentals of Inertial Navigation, 54 3.1 Chapter Focus, 54 3.2 Basic Terminology, 55 3.3 Inertial Sensor Error Models, 59 3.4 Sensor Calibration and Compensation, 63 3.5 Earth Models, 68 3.6 Hardware Implementations, 77 3.7 Software Implementations, 83 3.8 INS Performance Standards, 101 3.9 Testing and Evaluation, 102 3.10 Summary, 103 Problems, 104 References, 106 4 GNSS Signal Structure, Characteristics, and Information Utilization, 108 4.1 Legacy GPS Signal Components, Purposes, and Properties, 109 4.2 Modernization of GPS, 132 4.3 GLONASS Signal Structure and Characteristics, 141 4.4 Galileo, 144 4.5 Compass/BD, 146 4.6 QZSS, 146 Problems, 148 References, 150 5 GNSS Antenna Design and Analysis, 152 5.1 Applications, 152 5.2 GNSS Antenna Performance Characteristics, 152 5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design, 164 5.4 GNSS Antenna Technologies, 166 5.5 Principles of Adaptable Phased-Array Antennas, 180 5.6 Application Calibration/Compensation Considerations, 187 Problems, 189 References, 190 6 GNSS Receiver Design and Analysis, 193 6.1 Receiver Design Choices, 193 6.2 Receiver Architecture, 199 6.3 Signal Acquisition and Tracking, 204 6.4 Extraction of Information for User Solution, 223 6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and Frequency Estimations, 231 6.6 High-Sensitivity A-GPS Systems, 235 6.7 Software-Defi ned Radio (SDR) Approach, 242 6.8 Pseudolite Considerations, 243 Problems, 244 References, 246 7 GNSS Data Errors, 250 7.1 Data Errors, 250 7.2 Ionospheric Propagation Errors, 251 7.3 Tropospheric Propagation Errors, 263 7.4 The Multipath Problem, 264 7.5 Methods of Multipath Mitigation, 266 7.6 Theoretical Limits for Multipath Mitigation, 283 7.7 Ephemeris Data Errors, 285 7.8 Onboard Clock Errors, 285 7.9 Receiver Clock Errors, 286 7.10 SA Errors, 288 7.11 Error Budgets, 288 Problems, 289 References, 291 8 Differential GNSS, 293 8.1 Introduction, 293 8.2 Descriptions of Local-Area Differential GNSS (LADGNSS), Wide-Area Differential GNSS (WADGNSS), and Space-Based Augmentation System (SBAS), 294 8.3 GEO with L1L5 Signals, 299 8.4 GUS Clock Steering Algorithm, 307 8.5 GEO Orbit Determination (OD), 310 8.6 Ground-Based Augmentation System (GBAS), 316 8.7 Measurement/Relative-Based DGNSS, 319 8.8 GNSS Precise Point Positioning Services and Products, 323 Problems, 325 References, 326 9 GNSS and GEO Signal Integrity, 328 9.1 Introduction, 328 9.2 SBAS and GBAS Integrity Design, 332 Problems, 325 References, 326 10 Kalman Filtering, 350 10.1 Introduction, 350 10.2 Kalman Filter Correction Update, 354 10.3 Kalman Filter Prediction Update, 365 10.4 Summary of Kalman Filter Equations, 375 10.5 Accommodating Time-Correlated Noise, 377 10.6 Nonlinear and Adaptive Implementations, 384 10.7 Kalman Bucy Filter, 395 10.8 Host Vehicle Tracking Filters for GNSS, 397 10.9 Alternative Implementations, 413 10.10 Summary, 425 Problems, 426 References, 428 11 Inertial Navigation Error Analysis, 430 11.1 Chapter Focus, 430 11.2 Errors in the Navigation Solution, 432 11.3 Navigation Error Dynamics, 442 11.4 Inertial Sensor Noise, 459 11.5 Sensor Compensation Errors, 461 11.6 Software Sources, 467 11.7 Summary, 468 Problems, 470 References, 471 12 GNSS/INS Integration, 472 12.1 Chapter Focus, 472 12.2 GNSS/INS Integration Overview, 473 12.3 Unifi ed Model for GNSS/INS Integration, 479 12.4 Performance Analysis, 485 12.5 Other Integration Issues, 490 12.6 Summary, 492 Problem, 493 References, 494 Appendix A Software, 495 Appendix B Coordinate Systems and Transformations, 500 Index 551
by "Nielsen BookData"