Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition

Name: Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition
Brand: Artech House
Price: 152.99 EUR
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Paul D. Groves(Author)

Artech House (Publisher)

1st Edition

Published on 1. January 2013

800 pages

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978-1-60807-006-0 (ISBN)

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This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching. It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies..The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning. DVD Included! Features eleven appendices, interactive worked examples, basic GNSS and INS Matlab(R) simulation software, and problems and exercises to help you master the material.

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Content

Intro
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems Second Edition
Contents
Preface
Acknowledgments
Chapter 1 Introduction
1.1 Fundamental Concepts
1.2 Dead Reckoning
1.3 Position Fixing
1.3.1 Position-Fixing Methods
1.3.2 Signal-Based Positioning
1.3.3 Environmental Feature Matching
1.4 The Navigation System
1.4.1 Requirements
1.4.2 Context
1.4.3 Integration
1.4.4 Aiding
1.4.5 Assistance and Cooperation
1.4.6 Fault Detection
1.5 Overview of the Book
Chapter 2 Coordinate Frames, Kinematics, and the Earth
2.1 Coordinate Frames
2.1.1 Earth-Centered Inertial Frame
2.1.2 Earth-Centered Earth-Fixed Frame
2.1.3 Local Navigation Frame
2.1.4 Local Tangent-Plane Frame
2.1.5 Body Frame
2.1.6 Other Frames
2.2 Attitude, Rotation, and Resolving Ax
2.2.1 Euler Attitude
2.2.2 Coordinate Transformation Matrix
2.2.3 Quaternion Attitude
2.2.4 Rotation Vector
2.3 Kinematics
2.3.1 Angular Rate
2.3.2 Cartesian Position
2.3.3 Velocity
2.3.4 Acceleration
2.3.5 Motion with Respect to a Rotating
2.4 Earth Surface and Gravity Models
2.4.1 The Ellipsoid Model of the Earth's
2.4.2 Curvilinear Position
2.4.3 Position Conversion
2.4.4 The Geoid, Orthometric Height, and
2.4.5 Projected Coordinates
2.4.6 Earth Rotation
2.4.7 Specific Force, Gravitation, and G
2.5 Frame Transformations
2.5.1 Inertial and Earth Frames
2.5.2 Earth and Local Navigation Frames
2.5.3 Inertial and Local Navigation Fram
2.5.4 Earth and Local Tangent-Plane Fram
2.5.5 Transposition of Navigation Soluti
References
Chapter 3 Kalman Filter-Based Esitmation
3.1 Introduction
3.1.1 Elements of the Kalman Filter
3.1.2 Steps of the Kalman Filter
3.1.3 Kalman Filter Applications
3.2 Algorithms and Models
3.2.1 Definitions
3.2.2 Kalman Filter Algorithm
3.2.3 System Model
3.2.4 Measurement Model
3.2.5 Kalman Filter Behavior and State O
3.2.6 Closed-Loop Kalman Filter
3.2.7 Sequential Measurement Update
3.3 Implementation Issues
3.3.1 Tuning and Stability
3.3.2 Algorithm Design
3.3.3 Numerical Issues
3.3.4 Time Synchronization
3.3.5 Kalman Filter Design Process
3.4 Extensions to the Kalman Filter
3.4.1 Extended and Linearized Kalman Fil
3.4.2 Unscented Kalman Filter
3.4.3 Time-Correlated Noise
3.4.4 Adaptive Kalman Filter
3.4.5 Multiple-Hypothesis Filtering
3.4.6 Kalman Smoothing
3.5 The Particle Filter
References
Chapter 4 Inertial Sensors
4.1 Accelerometers
4.1.1 Pendulous Accelerometers
4.1.2 Vibrating-Beam Accelerometers
4.2 Gyroscopes
4.2.1 Optical Gyroscopes
4.2.2 Vibratory Gyroscopes
4.3 Inertial Measurement Units
4.4 Error Characteristics
4.4.1 Biases
4.4.2 Scale Factor and Cross-Coupling Er
4.4.3 Random Noise
4.4.4 Further Error Sources
4.4.5 Vibration-Induced Errors
4.4.6 Error Models
References
Chapter 5 Inertial Navigation
5.1 Introduction to Inertial Navigation
5.2 Inertial-Frame Navigation Equations
5.2.1 Attitude Update
5.2.2 Specific-Force Frame Transformatio
5.2.3 Velocity Update
5.2.4 Position Update
5.3 Earth-Frame Navigation Equations
5.3.1 Attitude Update
5.3.2 Specific-Force Frame Transformatio
5.3.3 Velocity Update
5.3.4 Position Update
5.4 Local-Navigation-Frame Navigation Eq
5.4.1 Attitude Update
5.4.2 Specific-Force Frame Transformatio
5.4.3 Velocity Update
5.4.4 Position Update
5.4.5 Wander-Azimuth Implementation
5.5 Navigation Equations Optimization
5.5.1 Precision Attitude Update
5.5.2 Precision Specific-Force Frame Tra
5.5.3 Precision Velocity and Position Up
5.5.4 Effects of Sensor Sampling Interva
5.5.5 Design Tradeoffs
5.6 Initialization and Alignment
5.6.1 Position and Velocity Initializati
5.6.2 Attitude Initialization
5.6.3 Fine Alignment
5.7 INS Error Propagation
5.7.1 Short-Term Straight-Line Error Pro
5.7.2 Medium- and Long-Term Error Propag
5.7.3 Maneuver-Dependent Errors
5.8 Indexed IMU
5.9 Partial IMU
References
Chapter 6 Dead Reckoning, Attitude, and Height Measurement
6.1 Attitude Measurement
6.1.1 Magnetic Heading
6.1.2 Marine Gyrocompass
6.1.3 Strapdown Yaw-Axis Gyro
6.1.4 Heading from Trajectory
6.1.5 Integrated Heading Determination
6.1.6 Accelerometer Leveling and Tilt Se
6.1.7 Horizon Sensing
6.1.8 Attitude and Heading Reference Sys
6.2 Height and Depth Measurement
6.2.1 Barometric Altimeter
6.2.2 Depth Pressure Sensor
6.2.3 Radar Altimeter
6.3 Odometry
6.3.1 Linear Odometry
6.3.2 Differential Odometry
6.3.3 Integrated Odometry and Partial IM
6.4 Pedestrian Dead Reckoning Using Step
6.5 Doppler Radar and Sonar
6.6 Other Dead-Reckoning Techniques
6.6.1 Correlation-Based Velocity Measure
6.6.2 Air Data
6.6.3 Ship's Speed Log
References
Chapter 7 Principles of Radio Positioning
7.1 Radio Positioning Configurations and
7.1.1 Self-Positioning and Remote Positi
7.1.2 Relative Positioning
7.1.3 Proximity
7.1.4 Ranging
7.1.5 Angular Positioning
7.1.6 Pattern Matching
7.1.7 Doppler Positioning
7.2 Positioning Signals
7.2.1 Modulation Types
7.2.2 Radio Spectrum
7.3 User Equipment
7.3.1 Architecture
7.3.2 Signal Timing Measurement
7.3.3 Position Determination from Rangin
7.4 Propagation, Error Sources, and Posi
7.4.1 Ionosphere, Troposphere, and Surfa
7.4.2 Attenuation, Reflection, Multipath
7.4.3 Resolution, Noise, and Tracking Er
7.4.4 Transmitter Location and Timing Er
7.4.5 Effect of Signal Geometry
References
Chapter 8 GNSS: Fundamentals, Signals, and Satellites
8.1 Fundamentals of Satellite Navigation
8.1.1 GNSS Architecture
8.1.2 Signals and Range Measurement
8.1.3 Positioning
8.1.4 Error Sources and Performance Limi
8.2 The Systems
8.2.1 Global Positioning System
8.2.2 GLONASS
8.2.3 Galileo
8.2.4 Beidou
8.2.5 Regional Systems
8.2.6 Augmentation Systems
8.2.7 System Compatibility
8.3 GNSS Signals
8.3.1 Signal Types
8.3.2 Global Positioning System
8.3.3 GLONASS
8.3.4 Galileo
8.3.7 Augmentation Systems
8.4 Navigation Data Messages
8.4.1 GPS
8.4.2 GLONASS
8.4.3 Galileo
8.4.4 SBAS
8.4.5 Time Base Synchronization
8.5.4 Elevation and Azimuth
References
Chapter 9 GNSS: User Equipment Processing and Errors
9.1 Receiver Hardware and Antenna
9.1.1 Antennas
9.1.2 Reference Oscillator
9.1.3 Receiver Front End
9.1.4 Baseband Signal Processor
9.2 Ranging Processor
9.2.1 Acquisition
9.2.2 Code Tracking
9.2.3 Carrier Tracking
9.2.4 Tracking Lock Detection
9.2.5 Navigation-Message Demodulation
9.2.6 Carrier-Power-to-Noise-Density Mea
9.2.7 Pseudo-Range, Pseudo-Range-Rate, a
9.3 Range Error Sources
9.3.1 Ephemeris Prediction and Satellite
9.3.2 Ionosphere and Troposphere Propaga
9.3.3 Tracking Errors
9.3.4 Multipath, Nonline-of-Sight, and D
9.4 Navigation Processor
9.4.1 Single-Epoch Navigation Solution
9.4.2 Filtered Navigation Solution
9.4.3 Signal Geometry and Navigation Sol
9.4.4 Position Error Budget
References
Chapter 10 GNSS: Advanced Techniques
10.1 Differential GNSS
10.1.1 Spatial and Temporal Correlation of GNSS Errors
10.1.2 Local and Regional Area DGNSS
10.1.3 Wide Area DGNSS and Precise Point Positioning
10.1.4 Relative GNSS
10.2 Real-Time Kinematic Carrier-Phase Positioning and Attitude Determination
10.2.1 Principles of Accumulated Delta Range Positioning
10.2.2 Single-Epoch Navigation Solution Using Double-Differenced ADR
10.2.3 Geometry-Based Integer Ambiguity Resolution
10.2.4 Multifrequency Integer Ambiguity Resolution
10.2.5 GNSS Attitude Determination
10.3 Interference Rejection and Weak Signal Processing
10.3.1 Sources of Interference, Jamming, and Attenuation
10.3.2 Antenna Systems
10.3.3 Receiver Front-End Filtering
10.3.4 Extended Range Tracking
10.3.5 Receiver Sensitivity
10.3.6 Combined Acquisition and Tracking
10.3.7 Vector Tracking
10.4 Mitigation of Multipath Interference and Nonline-of-Sight Reception
10.4.1 Antenna-Based Techniques
10.4.2 Receiver-Based Techniques
10.4.3 Navigation-Processor-Based Techniques
10.5 Aiding, Assistance, and Orbit Prediction
10.5.1 Acquisition and Velocity Aiding
10.5.2 Assisted GNSS
10.5.3 Orbit Prediction
10.6 Shadow Matching
References
Chapter 11 Long- and Medium-Range Radio Navigation
11.1 Aircraft Navigation Systems
11.1.1 Distance Measuring Equipment
11.1.2 Range-Bearing Systems
11.1.3 Nondirectional Beacons
11.1.4 JTIDS/MIDS Relative Navigation
11.1.5 Future Air Navigation Systems
11.2 Enhanced Loran
11.2.1 Signals
11.2.2 User Equipment and Positioning
11.2.3 Error Sources
11.2.4 Differential Loran
11.3 Phone Positioning
11.3.1 Proximity and Pattern Matching
11.3.2 Ranging
11.4 Other Systems
11.4.1 Iridium Positioning
11.4.2 Marine Radio Beacons
11.4.3 AM Radio Broadcasts
11.4.4 FM Radio Broadcasts
11.4.5 Digital Television and Radio
11.4.6 Generic Radio Positioning
References
Chapter 12 Short-Range Positioning
12.1 Pseudolites
12.1.1 In-Band Pseudolites
12.1.2 Locata and Terralite XPS
12.1.3 Indoor Messaging System
12.2 Ultrawideband
12.2.1 Modulation Schemes
12.2.2 Signal Timing
12.2.3 Positioning
12.3 Short-Range Communications Systems
12.3.1 Wireless Local Area Networks (Wi-
12.3.2 Wireless Personal Area Networks
12.3.3 Radio Frequency Identification
12.3.4 Bluetooth Low Energy
12.3.5 Dedicated Short-Range Communicati
12.4 Underwater Acoustic Positioning
12.5 Other Positioning Technologies
12.5.1 Radio
12.5.2 Ultrasound
12.5.3 Infrared
12.5.4 Optical
12.5.5 Magnetic
References
Chapter 13 Environmental Feature Matching
13.1 Map Matching
13.1.1 Digital Road Maps
13.1.2 Road Link Identification
13.1.3 Road Positioning
13.1.4 Rail Map Matching
13.1.5 Pedestrian Map Matching
13.2 Terrain-Referenced Navigation
13.2.1 Sequential Processing
13.2.2 Batch Processing
13.2.3 Performance
13.2.4 Laser TRN
13.2.5 Sonar TRN
13.2.6 Barometric TRN
13.2.7 Terrain Database Height Aiding
13.3 Image-Based Navigation
13.3.1 Imaging Sensors
13.3.2 Image Feature Comparison
13.3.3 Position Fixing Using Individual
13.3.4 Position Fixing by Whole-Image Ma
13.3.5 Visual Odometry
13.3.6 Feature Tracking
13.3.7 Stellar Navigation
13.4 Other Feature-Matching Techniques
13.4.1 Gravity Gradiometry
13.4.2 Magnetic Field Variation
13.4.3 Celestial X-Ray Sources
References
Chapter 14 INS/GNSS Integration
14.1 Integration Architectures
14.1.1 Correction of the Inertial Naviga
14.1.2 Loosely Coupled Integration
14.1.3 Tightly Coupled Integration
14.1.4 GNSS Aiding
14.1.5 Deeply Coupled Integration
14.2 System Model and State Selection
14.2.1 State Selection and Observability
14.2.2 INS State Propagation in an Inert
14.2.3 INS State Propagation in an Earth
14.2.4 INS State Propagation Resolved in
14.2.5 Additional IMU Error States
14.2.6 INS System Noise
14.2.7 GNSS State Propagation and System
14.2.8 State Initialization
14.3 Measurement Models
14.3.1 Loosely Coupled Integration
14.3.2 Tightly Coupled Integration
14.3.3 Deeply Coupled Integration
14.3.4 Estimation of Attitude and Instru
14.4 Advanced INS/GNSS Integration
14.4.1 Differential GNSS
14.4.3 GNSS Attitude
14.4.4 Large Heading Errors
14.4.5 Advanced IMU Error Modeling
14.4.6 Smoothing
References
Chapter 15 INS Alignment, Zero Updates, and Motion Constraints
15.1 Transfer Alignment
15.1.1 Conventional Measurement Matching
15.1.2 Rapid Transfer Alignment
15.1.3 Reference Navigation System
15.2 Quasi-Stationary Alignment
15.2.1 Coarse Alignment
15.2.2 Fine Alignment
15.3 Zero Updates
15.3.1 Stationary-Condition Detection
15.3.2 Zero Velocity Update
15.3.3 Zero Angular Rate Update
15.4 Motion Constraints
15.4.1 Land Vehicle Constraints
15.4.2 Pedestrian Constraints
15.4.3 Ship and Boat Constraint
References
Chapter 16 Multisensor Integrated Navigation
16.1 Integration Architectures
16.1.1 Cascaded Single-Epoch Integration
16.1.2 Centralized Single-Epoch Integrat
16.1.3 Cascaded Filtered Integration
16.1.4 Centralized Filtered Integration
16.1.5 Federated Filtered Integration
16.1.6 Hybrid Integration Architectures
16.1.7 Total-State Kalman Filter Employi
16.1.8 Error-State Kalman Filter
16.1.9 Primary and Reversionary Moding
16.1.10 Context-Adaptive Moding
16.2 Dead Reckoning, Attitude, and Heigh
16.2.1 Attitude
16.2.2 Height and Depth
16.2.3 Odometry
16.2.4 Pedestrian Dead Reckoning Using S
16.2.5 Doppler Radar and Sonar
16.2.6 Visual Odometry and Terrain-Refer
16.3 Position-Fixing Measurements
16.3.1 Position Measurement Integration
16.3.2 Ranging Measurement Integration
16.3.3 Angular Measurement Integration
16.3.4 Line Fix Integration
16.3.5 Handling Ambiguous Measurements
16.3.6 Feature Tracking and Mapping
16.3.7 Aiding of Position-Fixing Systems
References
Chapter 17 Fault Detection, Integrity Monitoring, and Testing
17.1 Failure Modes
17.1.1 Inertial Navigation
17.1.2 Dead Reckoning, Attitude, and Hei
17.1.3 GNSS
17.1.4 Terrestrial Radio Navigation
17.1.5 Environmental Feature Matching an
17.1.6 Integration Algorithm
17.1.7 Context
17.2 Range Checks
17.2.1 Sensor Outputs
17.2.2 Navigation Solution
17.2.3 Kalman Filter Estimates
17.3 Kalman Filter Measurement Innovatio
17.3.1 Innovation Filtering
17.3.2 Innovation Sequence Monitoring
17.3.3 Remedying Biased State Estimates
17.4 Direct Consistency Checks
17.4.1 Measurement Consistency Checks an
17.4.2 Parallel Solutions
17.5 Infrastructure-Based Integrity Moni
17.6 Solution Protection and Performance
17.7 Testing
17.7.1 Field Trials
17.7.2 Recorded Data Testing
17.7.3 Laboratory Testing
17.7.4 Software Simulation
References
Chapter 18 Applications and Future Trends
18.1 Design and Development
18.2 Aviation
18.3 Guided Weapons and Small UAVs
18.4 Land Vehicle Applications
18.5 Rail Navigation
18.6 Marine Navigation
18.7 Underwater Navigation
18.8 Spacecraft Navigation
18.9 Pedestrian Navigation
18.10 Other Applications
18.11 Future Trends
References
List of Key Symbols
Acronyms and Abbreviations
About the Author
DVD Contents
Index

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Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition

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