Format:
1 online resource (603 pages)
Edition:
3rd ed.
ISBN:
9781118523506
Content:
An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS (tightly and loosely coupled), modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. The Third Edition includes: Updates on the upgrades in existing GNSS and other systems currently under development Expanded coverage of basic principles of antenna design and practical antenna design solutions Expanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Expanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementation Derivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parameters Greatly expanded coverage of GNSS/INS integration, including derivation of a
Content:
Cover -- Title page -- Copyright page -- Contents -- Preface -- Acknowledgments -- Acronyms and Abbreviations -- 1: Introduction -- 1.1 Navigation -- 1.1.1 Navigation-Related Technologies -- 1.1.2 Navigation Modes -- GNSS Overview -- 1.2.1 GPS -- 1.2.2 Global Orbiting Navigation Satellite System (GLONASS) -- 1.2.3 Galileo -- 1.2.4 Compass (BeiDou-2) -- 1.3 Inertial Navigation Overview -- 1.3.1 Theoretical Foundations -- 1.3.2 Inertial Sensor Technology -- 1.4 GNSS/INS Integration Overview -- 1.4.1 The Role of Kalman Filtering -- 1.4.2 Implementation -- 1.4.3 Applications -- Problem -- References -- 2: Fundamentals of Satellite Navigation Systems -- 2.1 Navigation Systems Considered -- 2.1.1 Systems Other than GNSS -- 2.1.2 Comparison Criteria -- 2.2 Satellite Navigation -- 2.2.1 Satellite Orbits -- 2.2.2 Navigation Solution (Two-Dimensional Example) -- 2.2.3 Satellite Selection and Dilution of Precision (DOP) -- 2.2.4 Example Calculation of DOPS -- 2.3 Time and GPS -- 2.3.1 Coordinated Universal Time (UTC) Generation -- 2.3.2 GPS System Time -- 2.3.3 Receiver Computation of UTC -- 2.4 Example: User Position Calculations with No Errors -- 2.4.1 User Position Calculations -- 2.4.2 User Velocity Calculations -- Problem -- References -- 3: Fundamentals of Inertial Navigation -- 3.1 Chapter Focus -- 3.2 Basic Terminology -- 3.3 Inertial Sensor Error Models -- 3.3.1 Zero-Mean Random Errors -- 3.3.2 Fixed-Pattern Errors -- 3.3.3 Sensor Error Stability -- 3.4 Sensor Calibration and Compensation -- 3.4.1 Sensor Biases, Scale Factors, and Misalignments -- 3.4.2 Other Calibration Parameters -- 3.4.3 Calibration Parameter Instabilities -- 3.4.4 Auxilliary Sensors before GNSS -- 3.4.5 Sensor Performance Ranges -- 3.5 Earth Models -- 3.5.1 Terrestrial Navigation Coordinates -- 3.5.2 Earth Rotation -- 3.5.3 Gravity Models -- 3.6 Hardware Implementations.
Note:
Description based on publisher supplied metadata and other sources
Additional Edition:
ISBN 9781118447000
Additional Edition:
Print version Global Navigation Satellite Systems, Inertial Navigation, and Integration
Additional Edition:
Erscheint auch als Druck-Ausgabe Grewal, Mohinder S., 1940 - Global navigation satellite systems, inertial navigation, and integration Hoboken, NJ : Wiley, 2013 ISBN 9781118447000
Language:
English
Subjects:
Engineering
,
Geography
Keywords:
GPS
;
Kalman-Filter
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