Global Positioning Systems, Inertial Navigation, and IntegrationWiley, 2001 - 392 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. |
Inhoudsopgave
Introduction | 1 |
Fundamentals of Satellite and Inertial Navigation | 9 |
Signal Characteristics and Information Extraction | 30 |
Copyright | |
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Global Positioning Systems, Inertial Navigation, and Integration Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews Gedeeltelijke weergave - 2004 |
Global Positioning Systems, Inertial Navigation, and Integration Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews Geen voorbeeld beschikbaar - 2004 |
Veelvoorkomende woorden en zinsdelen
acceleration accelerometer accuracy algorithm alignment angle antenna AOR-W axes bandwidth baseband bias C/A-code calculated carrier frequency carrier phase chip Cholesky factor code tracking compensation components coordinate transformation corrections correlation covariance matrix defined derivatives despreading differential Differential GPS Doppler dynamic earth ECEF effect ellipsoid ephemeris estimate GDOP geoid gimbal 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 L₁ likelihood function linear MATLAB measurement sensitivity matrix modulation momentum wheel MTSAT multipath noise norm orbit orthogonal orthogonal matrices oscillator output P-code parameters PENU performance plane position propagation pseudolite pseudorange pseudorange measurements quaternion radius range error reference reference ellipsoid Riccati equation rotation rate rotation vector scale factor sensor square-root filtering strapdown subframe triangular update variables velocity WAAS waveform zero др