Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems
1st Edition
Published on 1. January 2007
522 pages
978-1-58053-262-4 (ISBN)
Description
Navigation systems engineering is a red-hot area. More and more technical professionals are entering the field and looking for practical, up-to-date engineering know-how. This single-source reference answers the call, providing both an introduction to overall systems operation and an in-depth treatment of architecture, design, and component integration. This book explains how satellite, on-board, and other navigation technologies operate, and it gives practitioners insight into performance issues such as processing chains and error sources. Providing solutions to systems designers and engineers, the book describes and compares different integration architectures, and explains how to diagnose errors. Moreover, this hands-on book includes appendices filled with terminology and equations for quick referencing.
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12/2007
Artech House Publishers
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Content
- Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems
- Contents v
- Preface
- PART I Introduction 1
- Chapter 1 Introduction 3
- 1.1 What Is Navigation?
- 1.2 Inertial Navigation
- 1.3 Radio and Satellite Navigation
- 1.4 Feature Matching
- 1.5 The Complete Navigation System
- References
- PART II Navigation Mathematics
- Chapter 2 Coordinate Frames, Kinematics, and the Earth 17
- 2.1 Coordinate Frames
- 2.2 Kinematics
- 2.3 Earth Surface and Gravity Models
- 2.4 Frame Transformations
- References
- Selected Bibliography
- Endnotes
- Chapter 3 The Kalman Filter 55
- 3.1 Introduction
- 3.2 Algorithms and Models
- 3.3 Implementation Issues
- 3.4 Extensions to the Kalman Filter
- References
- Selected Bibliography
- Endnotes
- Part III Navigation Systems
- Chapter 4 Inertial Sensors 97
- 4.1 Accelerometers
- 4.2 Gyroscopes
- 4.3 Inertial Measurement Units
- 4.4 Error Characteristics
- References
- Chapter 5 Inertial Navigation 121
- 5.1 Inertial-Frame Navigation Equations
- 5.2 Earth-Frame Navigation Equations
- 5.3 Local-Navigation-Frame Navigation Equations
- 5.4 Navigation Equations Precision
- 5.5 Initialization and Alignment
- 5.6 INS Error Propagation
- 5.7 Platform INS
- 5.8 Horizontal-Plane Inertial Navigation
- References
- Selected Bibliography
- Endnotes
- Chapter 6 Satellite Navigation Systems 161
- 6.1 Fundamentals of Satellite Navigation
- 6.2 Global Positioning System
- 6.3 GLONASS
- 6.4 Galileo
- 6.5 Regional Navigation Systems
- 6.6 GNSS Interoperability
- References
- Selected Bibliography
- Chapter 7 Satellite Navigation Processing, Errors, and Geometry 195
- 7.1 Satellite Navigation Geometry
- 7.2 Receiver Hardware and Antenna
- 7.3 Ranging Processor
- 7.4 Range Error Sources
- 7.5 Navigation Processor
- References
- Selected Bibliography
- Endnotes
- Chapter 8 Advanced Satellite Navigation 279
- 8.1 Differential GNSS
- 8.2 Carrier-Phase Positioning and Attitude
- 8.3 Poor Signal-to-Noise Environments
- 8.4 Multipath Mitigation
- 8.5 Signal Monitoring
- 8.6 Semi-Codeless Tracking
- References
- Chapter 9 Terrestrial Radio Navigation 303
- 9.1 Point-Source Systems
- 9.2 Loran
- 9.3 Instrument Landing System
- 9.4 Urban and Indoor Positioning
- 9.5 Relative Navigation
- 9.6 Tracking
- 9.7 Sonar Transponders
- References
- Chapter 10 Dead Reckoning, Attitude, and Height Measurement 321
- 10.1 Attitude Measurement
- 10.2 Height and Depth Measurement
- 10.3 Odometers
- 10.4 Pedestrian Dead Reckoning
- 10.5 Doppler Radar and Sonar
- 10.6 Other Dead-Reckoning Techniques
- References
- Chapter 11 Feature Matching 345
- 11.1 Terrain-Referenced Navigation
- 11.2 Image Matching
- 11.3 Map Matching
- 11.4 Other Feature-Matching Techniques
- References
- Selected Bibliography
- PART IV Integrated Navigation
- Chapter 12 INS/GNSS Integration 363
- 12.1 Integration Architectures
- 12.2 System Model and State Selection
- 12.3 Measurement Models
- 12.4 Advanced INS/GNSS Integration
- References
- Selected Bibliography
- Endnotes
- Chapter 13 INS Alignment and Zero Velocity Updates 407
- 13.1 Transfer Alignment
- 13.2 Quasi-Stationary Alignment with Unknown Heading
- 13.3 Quasi-Stationary Fine Alignment and Zero Velocity Updates
- References
- Selected Bibliography
- Chapter 14 Multisensor Integrated Navigation 419
- 14.1 Integration Architectures
- 14.2 Terrestrial Radio Navigation
- 14.3 Dead Reckoning, Attitude, and Height Measurement
- 14.4 Feature Matching
- References
- Chapter 15 Fault Detection and Integrity Monitoring 451
- 15.1 Failure Modes
- 15.2 Range Checks
- 15.3 Kalman Filter Measurement Innovations
- 15.4 Direct Consistency Checks
- 15.5 Certified Integrity Monitoring
- References
- Appendix A Vectors and Matrices 471
- A.1 Introduction to Vectors
- A.2 Introduction to Matrices
- A.3 Special Matrix Types
- A.4 Matrix Inversion
- A.5 Calculus
- References
- Appendix B Statistical Measures 479
- B.1 Mean, Variance, and Standard Deviation
- B.2 Probability Density Function
- B.3 Gaussian Distribution
- B.4 Chi-Square Distribution
- References
- List of Symbols 485
- Matrices
- Vectors
- Scalars
- Subscripts and Superscripts
- Qualifiers
- List of Acronyms and Abbreviations 497
- About the Author 505
