Global Navigation Satellite Systems, Inertial Navigation, and Integration

3. Auflage 2013
ISBN: 978-1-118-44700-0
Verlag: Wiley-Blackwell

Buch, Englisch, 608 Seiten, Format (B × H): 164 mm x 241 mm, Gewicht: 975 g

The Global Positioning System (GPS) may be used in conjunction with Inertial Navigation Systems (INS) for tracking and navigation and may be applied in the civilian and military sectors to track devices, to locate people and objects, in the air, on the ground, or at sea. The book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. With a focus on providing readers with solutions to real-world problems, the book offers numerous detailed examples and practice problems, as well as software that demonstrates Kalman filter algorithms with GNSS and INS data sets. The book is accompanied by a Solutions Manual for instructors.

Autoren/Hrsg.

Grewal, Mohinder S.

Andrews, Angus P.

Bartone, Chris G.

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Satellitenkommunikation, Satellitentechnik
• Geowissenschaften Geologie GIS, Geoinformatik

Inhaltsverzeichnis

Preface xxvii

Acknowledgments xxxi

Acronyms and Abbreviations xxxiii

1 Introduction, 1

1.1 Navigation, 1

1.2 GNSS Overview, 4

System (GLONASS), 6

1.3 Inertial Navigation Overview, 10

(MWGs), 14

of Inertial Navigation", 19

1.4 GNSS/INS Integration Overview, 30

Problems, 32

References, 32

2 Fundamentals of Satellite Navigation Systems, 35

2.1 Navigation Systems Considered, 35

2.2 Satellite Navigation, 36

on Land, 36

Dilution of Precision (DOP), 41

2.3 Time and GPS, 46

2.4 Example: User Position Calculations with No Errors, 48

Problems, 51

References, 53

3 Fundamentals of Inertial Navigation, 54

3.1 Chapter Focus, 54

3.2 Basic Terminology, 55

3.3 Inertial Sensor Error Models, 59

3.4 Sensor Calibration and Compensation, 63

Measurable Conditions, 65

between Turn-Ons, 67

3.5 Earth Models, 68

3.6 Hardware Implementations, 77

3.7 Software Implementations, 83

3.8 INS Performance Standards, 101

3.9 Testing and Evaluation, 102

3.10 Summary, 103

Problems, 104

References, 106

4 GNSS Signal Structure, Characteristics, and Information Utilization, 108

4.1 Legacy GPS Signal Components, Purposes, and Properties, 109

4.2 Modernization of GPS, 132

4.3 GLONASS Signal Structure and Characteristics, 141

Signals, 142

4.4 Galileo, 144

4.5 Compass/BD, 146

4.6 QZSS, 146

Problems, 148

References, 150

5 GNSS Antenna Design and Analysis, 152

5.1 Applications, 152

5.2 GNSS Antenna Performance Characteristics, 152

5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design, 164

5.4 GNSS Antenna Technologies, 166

5.5 Principles of Adaptable Phased-Array Antennas, 180

5.6 Application Calibration/Compensation Considerations, 187

Problems, 189

References, 190

6 GNSS Receiver Design and Analysis, 193

6.1 Receiver Design Choices, 193

6.2 Receiver Architecture, 199

Automatic Gain Control, 203

6.3 Signal Acquisition and Tracking, 204

Visible, 205

6.4 Extraction of Information for User Solution, 223

and Velocity, 224

6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and

Frequency Estimations, 231

6.6 High-Sensitivity A-GPS Systems, 235

6.7 Software-Defi ned Radio (SDR) Approach, 242

6.8 Pseudolite Considerations, 243

Problems, 244

References, 246

7 GNSS Data Errors, 250

7.1 Data Errors, 250

7.2 Ionospheric Propagation Errors, 251

7.3 Tropospheric Propagation Errors, 263

7.4 The Multipath Problem, 264

7.5 Methods of Multipath Mitigation, 266

7.6 Theoretical Limits for Multipath Mitigation, 283

7.7 Ephemeris Data Errors, 285

7.8 Onboard Clock Errors, 285

7.9 Receiver Clock Errors, 286

7.10 SA Errors, 288

7.11 Error Budgets, 288

Problems, 289

References, 291

8 Differential GNSS, 293

8.1 Introduction, 293

8.2 Descriptions of Local-Area Differential GNSS (LADGNSS), Wide-Area Differential GNSS (WADGNSS), and Space-Based Augmentation System (SBAS), 294

8.3 GEO with L1L5 Signals, 299

8.4 GUS Clock Steering Algorithm, 307

8.5 GEO Orbit Determination (OD), 310

8.6 Ground-Based Augmentation System (GBAS), 316

System (JPALS), 317

8.7 Measurement/Relative-Based DGNSS, 319

Postprocessing, 323

8.8 GNSS Precise Point Positioning Services and Products, 323

Problems, 325

References, 326

9 GNSS and GEO Signal Integrity, 328

9.1 Introduction, 328

9.2 SBAS and GBAS Integrity Design, 332

Estimation Error, 339

Problems, 325

References, 326

9 GNSS and GEO Signal Integrity, 328

9.1 Introduction, 328

9.2 SBAS and GBAS Integrity Design, 332

Estimation Error, 339

9.3 SBAS Example, 346

9.4 Summary, 347

9.5 Future: GIC, 348

Problem, 348

References, 348

10 Kalman Filtering, 350

10.1 Introduction, 350

10.2 Kalman Filter Correction Update, 354

10.3 Kalman Filter Prediction Update, 365

Coeffi cient Matrices, 369

10.4 Summary of Kalman Filter Equations, 375

10.5 Accommodating Time-Correlated Noise, 377

10.6 Nonlinear and Adaptive Implementations, 384

10.7 Kalman-Bucy Filter, 395

10.8 Host Vehicle Tracking Filters for GNSS, 397

Acceleration Damping, 403

10.9 Alternative Implementations, 413

10.10 Summary, 425

Problems, 426

References, 428

11 Inertial Navigation Error Analysis, 430

11.1 Chapter Focus, 430

11.2 Errors in the Navigation Solution, 432

11.3 Navigation Error Dynamics, 442

Gravity Calculations, 444

11.4 Inertial Sensor Noise, 459

11.5 Sensor Compensation Errors, 461

11.6 Software Sources, 467

11.7 Summary, 468

Problems, 470

References, 471

12 GNSS/INS Integration, 472

12.1 Chapter Focus, 472

12.2 GNSS/INS Integration Overview, 473

12.3 Unifi ed Model for GNSS/INS Integration, 479

12.4 Performance Analysis, 485

12.5 Other Integration Issues, 490

12.6 Summary, 492

Problem, 493

References, 494

Appendix A Software, 495

A.1 Software Sources, 495

A.2 Software for Chapter 3, 496

A.3 Software for Chapter 4, 496

A.4 Software for Chapter 7, 496

A.5 Software for Chapter 10, 497

A.6 Software for Chapter 11, 498

A.7 Software for Chapter 12, 498

A.8 Almanac/Ephemeris Data Sources, 499

Appendix B Coordinate Systems and Transformations, 500

B.1 Coordinate Transformation Matrices, 500

B.2 Inertial Reference Directions, 503

B.3 Application-Dependent Coordinate Systems, 504

B.4 Coordinate Transformation Models, 523

B.5 Newtonian Mechanics in Rotating Coordinates, 548

Index 551

Über Autor(innen)

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

ANGUS P. ANDREWS, PhD, was senior scientist (now retired) at the Rockwell Science Center in Thousand Oaks, California.

CHRIS G. BARTONE, PhD, PE, is Professor of Electrical Engineering in the Russ College of Engineering and Technology, School of Electrical Engineering and Computer Science at Ohio University, Athens, Ohio.