Global Positioning Systems Inertial Navigation and Integration

Global Positioning Systems  Inertial Navigation  and Integration
Author: Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews
Publsiher: John Wiley & Sons
Total Pages: 416
Release: 2004-04-05
Genre: Science
ISBN: 9780471463863

Download Global Positioning Systems Inertial Navigation and Integration Book in PDF, Epub and Kindle

The only comprehensive guide to Kalman filtering and itsapplications to real-world GPS/INS problems Written by recognized authorities in the field, this book providesengineers, computer scientists, and others with a workingfamiliarity with the theory and contemporary applications of GlobalPositioning Systems (GPS), Inertial Navigational Systems, andKalman filters. Throughout, the focus is on solving real-worldproblems, with an emphasis on the effective use of state-of-the-artintegration techniques for those systems, especially theapplication of Kalman filtering. To that end, the authors explorethe various subtleties, common failures, and inherent limitationsof the theory as it applies to real-world situations, and providenumerous detailed application examples and practice problems,including GPS-aided INS, modeling of gyros and accelerometers, andWAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and theKalman filter, the authors present numerous design andimplementation techniques not found in other professionalreferences, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function ofmodel parameters * Implementing the mechanization equations in numerically stablealgorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance inoperation In order to enhance comprehension of the subjects covered, theauthors have included software in MATLAB, demonstrating theworkings of the GPS, INS, and filter algorithms. In addition toshowing the Kalman filter in action, the software also demonstratesvarious practical aspects of finite word length arithmetic and theneed for alternative algorithms to preserve result accuracy. An Instructor's Manual presenting detailed solutions to all theproblems in the book is available from the Wiley editorialdepartment.

Global Positioning Systems Inertial Navigation and Integration

Global Positioning Systems  Inertial Navigation  and Integration
Author: Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews
Publsiher: John Wiley & Sons
Total Pages: 416
Release: 2007-03-05
Genre: Science
ISBN: 9780470099711

Download Global Positioning Systems Inertial Navigation and Integration Book in PDF, Epub and Kindle

An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), 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, 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. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

The Global Positioning System Inertial Navigation

The Global Positioning System   Inertial Navigation
Author: Jay Farrell,Matthew Barth
Publsiher: McGraw-Hill Professional
Total Pages: 358
Release: 1999
Genre: Technology & Engineering
ISBN: UOM:39015047741593

Download The Global Positioning System Inertial Navigation Book in PDF, Epub and Kindle

The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. Features include integrated practical examples, in-depth case studies, detailed theoretical derivations, guidelines for building integrated GPS/INS systems, advanced GPS and INS techniques presented in a unifying format, comparison of alternative implementation techniques, and a systematic engineering design approach. Extensively cross-referenced to the literature on advanced navigation system design, this engineering reference is ideal for navigation systems designers, analysts, and project managers.

Integration of the Global Positioning System with an Inertial Navigation System

Integration of the Global Positioning System with an Inertial Navigation System
Author: Anonim
Publsiher: Unknown
Total Pages: 0
Release: 1998
Genre: Electronic Book
ISBN: OCLC:45562097

Download Integration of the Global Positioning System with an Inertial Navigation System Book in PDF, Epub and Kindle

Navigation is the determination of the position and velocity of a moving vehicle. Navigation systems used to measure this state vector can be one of two types, either positioning or dead-reckoning. Positioning systems, such as the Global Positioning System (GPS) measure the state vector without regard to the path traveled by the vehicle in the past. On the other hand, dead-reckoning navigation systems, such as the Inertial Navigation System (INS) determine the state vector from a continuous series of measurements relative to an initial position. By integrating the unique and complementary characteristics of each system into one integrated INS/GPS system, accuracies as well as additional benefits can be achieved even though unattainable by either system independently. The optimal method of integrating these two systems is through the use of a Kalman filter. This mathematical technique is used for computing the best estimate of the state of a process which varies with time. Approaches to this filtering can either be centralized in a main filter or federated, where filtering is done at individual sensors. This theory can then be applied to real world scenarios, whether it be an aircraft during flight, an aircraft during precision approach landings, or the failure detection and isolation of a GPS signal.

Global Navigation Satellite Systems Inertial Navigation and Integration

Global Navigation Satellite Systems  Inertial Navigation  and Integration
Author: Mohinder S. Grewal,Angus P. Andrews,Chris G. Bartone
Publsiher: John Wiley & Sons
Total Pages: 496
Release: 2015-03-11
Genre: Science
ISBN: 9781118523537

Download Global Navigation Satellite Systems Inertial Navigation and Integration Book in PDF, Epub and Kindle

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 unified GNSS/INS integration model, its MATLAB® implementations, and performance evaluation under simulated dynamic conditions The companion website includes updated background material; additional MATLAB scripts for simulating GNSS-only and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.

Fundamentals of Inertial Navigation Satellite based Positioning and their Integration

Fundamentals of Inertial Navigation  Satellite based Positioning and their Integration
Author: Aboelmagd Noureldin,Tashfeen B. Karamat,Jacques Georgy
Publsiher: Springer Science & Business Media
Total Pages: 324
Release: 2012-10-26
Genre: Technology & Engineering
ISBN: 9783642304668

Download Fundamentals of Inertial Navigation Satellite based Positioning and their Integration Book in PDF, Epub and Kindle

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

The Global Positioning System Inertial Navigation

The Global Positioning System   Inertial Navigation
Author: Jay A. Farrell
Publsiher: McGraw Hill Professional
Total Pages: 360
Release: 1999-01-21
Genre: Technology & Engineering
ISBN: 0071369449

Download The Global Positioning System Inertial Navigation Book in PDF, Epub and Kindle

With GPS and INS hardware becoming ever smaller and less expensive, innovative opportunities for commercial navigation systems are everywhereÑand continue to arise. Integrated GPS/INS systems have some real advantages, in terms of output rate, reliability, and accuracy. The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. This in-depth text provides navigation system designers comprehensive and accurate coverage of such topics as coordinate frames and transformations, Kalman filtering techniques, navigation system performance analysis, GPS receiver ephemeris and pseudo-range processing, differential GPS, carrier phase processing, and attitude determination. Extensively cross-referenced to the literature on advanced navigation system design, this superb engineering reference is ideal for navigation systems designers, analysts, and project managers.

Principles of GNSS Inertial and Multisensor Integrated Navigation Systems Second Edition

Principles of GNSS  Inertial  and Multisensor Integrated Navigation Systems  Second Edition
Author: Paul D. Groves
Publsiher: Artech House
Total Pages: 800
Release: 2013-04-01
Genre: Technology & Engineering
ISBN: 9781608070053

Download Principles of GNSS Inertial and Multisensor Integrated Navigation Systems Second Edition Book in PDF, Epub and Kindle

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.