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Global Positioning Systems, Inertial Navigation, and Integration

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1 Recenseren
John Wiley & Sons, 5 apr. 2004 - 416 pagina's
The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:
* Representing the problem in a mathematical model
* Analyzing the performance of the GPS sensor as a function of model parameters
* Implementing the mechanization equations in numerically stable algorithms
* Assessing computation requirements
* Testing the validity of results
* Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.

An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.

  

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Geselecteerde pagina's

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

Overige edities - Alles weergeven

Global Positioning Systems, Inertial Navigation, and Integration
Global Positioning Systems, Inertial Navigation, and Integration
Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews
Gedeeltelijke weergave - 2007
Global Positioning Systems, Inertial Navigation, and Integration
Global Positioning Systems, Inertial Navigation, and Integration
Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews
Gedeeltelijke weergave - 2007
Global positioning systems, inertial navigation, and integration
Global positioning systems, inertial navigation, and integration
Mohinder S. Grewal,Lawrence Randolph Weill,Angus P. Andrews
Fragmentweergave - 2001
Alles weergeven »

Veelvoorkomende woorden en zinsdelen

A-code acceleration accelerometer accuracy algorithm alignment angle antenna AOR-W applications axes bandwidth baseband bias C/A-code calculated carrier frequency carrier phase chip Cholesky factor clock steering code tracking components coordinate transformation corrections correlation covariance matrix defined definite derivatives despreading differential Differential GPS Doppler dynamic earth ECEF effect ellipsoid ephemeris estimate Filter first GDOP gimbal Global Positioning System GLONASS GPS receiver GPS satellite GPS signal gyroscope host vehicle illustrated in Fig implementation inertial navigation input axis integration ionospheric ionospheric delay Kalman filter Kalman gain likelihood function linear m-file MATLAB measurement sensitivity matrix modulation MTSAT multipath noise orbit orthogonal oscillator output P-code parameters performance position propagation pseudolite pseudorange pseudorange measurements quaternion radius reference reference ellipsoid Riccati equation rotation rate rotation vector scale factor sensor significantly specified stations strapdown subframe triangular update user’s variables velocity WAAS waveform zero

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Over de auteur (2004)

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

LAWRENCE R. WEILL, PhD, is Professor of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton.

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

Bibliografische gegevens

QR code for Global Positioning Systems, Inertial Navigation, and Integration
TitelGlobal Positioning Systems, Inertial Navigation, and Integration
AuteursMohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews
UitgeverJohn Wiley & Sons, 2004
ISBN0471463868, 9780471463863
Lengte416 pagina's
  
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