Principles of GNSS, inertial, and multisensor integrated navigation systems / Paul D. Groves.

Format:

Book

Author/Creator:

Groves, Paul D. (Paul David)

Series:

GNSS technology and applications series.

GNSS technology and applications series

Language:

English

Subjects (All):

Artificial satellites in navigation.

Inertial navigation systems.

Physical Description:

1 online resource (522 p.)

Edition:

1st ed.

Place of Publication:

Boston : Artech House, c2008.

Language Note:

English

Summary:

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. Publisher abstract.

Contents:

What is Navigation?

Inertial Navigation

Radio and Satellite Navigation

Feature Matching

The Complete Navigation System

Navigation Mathematics

Coordinate Frames, Kenematics, and the Earth

Coordinate Frames

Kinematics

Earth Surface and Gravity Models

Frame Transformations

The Kalman Filter

Introduction

Algorithms and Models

Implementation Issues

Extensions to the Kalman Filter

Navigation Systems

Inertial Sensors

Acceleromoters

Gyroscopes

Inertial Measurement Units

Error Characteristics

Inertial-Frame Navigation Equations

Earth-Frame Navigation Equations

Local-Navigation-Frame Navigation Equations

Navigations Equations Precision

initialization and Alignment

INS Error Propagation

Platform INS

Horizontal-Plane Inertial Navigation

Satellite Navigation Systems

Fundamentals of Satellite Navigation

Global Positioning System

GLONASS

Galileo

Regional Navigation Systems

GNSS Interoperability

Satellite Navigation Processing, Errors, and Geometry

Satellite Navigation Geometry

Receiver Hardware and Antenna

Ranging Processor

Range Error Sources

Navigation Processor

Advanced Satellite Navigation

Differential GNSS

Carrier-Phase Positioning and Attitude

Poor Signal-to-Noise Environments

Multipath Mitigation

Signal Monitoring

Semi-Codeless Tracking

Terrestrial Radio Navigation

Point-Source Systems

Loran

Instrument Landing System

Urban and Indoor Positioning

Relative Navigation

Tracking

Sonar Transponders

Dead Reckoning, attitude, and Height Measurement

Height and Depth Measurement

Odometers

Pedestrian Dead Reckoning

Doppler Radar and Sonar

Other Dead-Reckoning Techniques

Terrain-Referenced NAvigation

Image Matching

Map Matching

Other Feature-Matching Techniques

Integrated Navigation

INS/GNSS Integration

Integration Architectures

System Model and State Selection

Measurement Models

Advanced INS/GNSS Integration

INS Alignment and Zero Velocity Updates

Transfer Alignment

Quasi-Stationary Alignment with Unknown Heading

Quasi-Stationary Fine Alignment and Zero Velocity Updates

Multisensor Integrated Navigation

Dead Reckoning, Attitude, and Height Measurement

Feature Mapping

Fault Detection and Integrity Monitoring

Failure Modes

Range Checks

Kalman Filter Measurement Innovations

Direct Consistency Checks

Certified Integrity Monitoring

Vectors and Matrices

Introduction to Vectors

Introduction to Matrices

Special Matrix Types

Matrix Inversion

Calculus

Statistical Measures

Mean, Variance, and Standard Deviation

Probability Density Function

Gaussian Distribution

Chi-Square Distribution.

Notes:

Description based upon print version of record.

Print version record.

Includes bibliographical references and index.

ISBN:

1-5231-4639-7

1-58053-262-4

OCLC:

437208205