Global Positioning Systems, Inertial Navigation, and Integration

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John Wiley & Sons, 5 apr. 2004 - 416 pagina's
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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.

  

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Inhoudsopgave

1 Introduction
1
2 Fundamentals of Satellite and Inertial Navigation
9
3 Signal Characteristics and Information Extraction
30
4 Receiver and Antenna Design
80
5 GPS Data Errors
103
6 Inertial Navigation
131
7 Kalman Filter Basics
179
8 Kalman Filter Engineering
229
9 Differential GPS
265
Software
291
Vectors and Matrices
296
Coordinate Transformations
324
GLOSSARY
370
REFERENCES
374
INDEX
383
Copyright

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Over de auteur (2004)

MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineeringin the College of Engineering and Computer Science at CaliforniaState University, Fullerton.

LAWRENCE R. WEILL, PhD, is Professor of Applied Mathematics inthe College of Mathematics and Natural Sciences at California StateUniversity, Fullerton.

ANGUS P. ANDREWS, PhD, is Senior Scientist at the RockwellScience Center in Thousand Oaks, California.

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