Grewal / Weill / Andrews Global Positioning Systems, Inertial Navigation, and Integration

2. Auflage 2007
ISBN: 978-0-470-09971-1
Verlag: John Wiley & Sons
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 416 Seiten, E-Book

An updated guide to GNSS and INS, and solutions to real-worldGPS/INS problems with Kalman filtering
Written by recognized authorities in the field, this secondedition of a landmark work provides engineers, computer scientists,and others with a working familiarity with the theory andcontemporary applications of Global Navigation Satellite Systems(GNSS), Inertial Navigational Systems (INS), and Kalman filters.Throughout, the focus is on solving real-world problems, with anemphasis on the effective use of state-of-the-art integrationtechniques for those systems, especially the application of Kalmanfiltering. To that end, the authors explore the various subtleties,common failures, and inherent limitations of the theory as itapplies to real-world situations, and provide numerous detailedapplication examples and practice problems, including GNSS-aidedINS, modeling of gyros and accelerometers, and SBAS and GBAS.
Drawing upon their many years of experience with GNSS, INS, andthe Kalman filter, the authors present numerous design andimplementation techniques not found in other professionalreferences. This Second Edition has been updated to include:
* GNSS signal integrity with SBAS
* Mitigation of multipath, including results
* Ionospheric delay estimation with Kalman filters
* New MATLAB programs for satellite position determination usingalmanac and ephemeris data and ionospheric delay calculations fromsingle and dual frequency data
* New algorithms for GEO with L1 /L5 frequencies and clocksteering
* Implementation of mechanization equations in numerically stablealgorithms
To enhance comprehension of the subjects covered, the authorshave included software in MATLAB, demonstrating the working of theGNSS, INS, and filter algorithms. In addition to showing the Kalmanfilter in action, the software also demonstrates various practicalaspects of finite word length arithmetic and the need foralternative algorithms to preserve result accuracy.

Autoren/Hrsg.

Grewal, Mohinder S.

Weill, Lawrence R.

Andrews, Angus P.

Inhaltsverzeichnis

Preface.
Acknowledgments.
Dedication.
Acronyms.
1 Introduction.
1.1 GNSS/INS Integration Overview.
1.2 GNSS Overview.
1.3 Differential and Augmented GPS.
1.4 Space-Based Augmentation Systems (SBASs).
1.5 Applications.
2 Fundamentals of Satellite and Inertial Navigation.
2.1 Navigation Systems Considered.
2.2 Fundamentals of Inertial Navigation.
2.3 Satellite Navigation.
2.4 Time and GPS.
2.5 Example GPS Calculations with no Errors.
3 Signal Characteristics and Information Extraction.
3.1 Mathematical Signal Waveform Models.
3.2 GPS Signal Components, Purposes, and Properties.
3.3 Signal Power Levels.
3.4 Signal Acquisition and Tracking.
3.5 Extraction of Information for Navigation Solution.
3.6 Theoretical Considerations in Pseudorange and Frequency Estimation.
3.7 Modernization of GPS.
4 Receiver and Antenna Design.
4.1 Receiver Architecture.
4.2 Receiver Design Choices.
4.3 High-Sensitivity-Assisted GPS Systems (Indoor Positioning).
4.4 Antenna Design.
5 Global Navigation Satellite System Data Errors.
5.1 Selective Availability Errors.
5.2 Ionospheric Propagation Errors.
5.3 Tropospheric Propagation Errors.
5.4 The Multipath Problem.
5.5 How Multipath Causes Ranging Errors.
5.6 Methods of Multipath Mitigation.
5.7 Theoretical Limits for Multipath Mitigation.
5.8 Ephemeris Data Errors.
5.9 Onboard Clock Errors.
5.10 Receiver Clock Errors.
5.11 Error Budgets.
5.12 Differential GNSS.
5.13 GPS Precise Point Positioning Services and Products.
6 Differential GNSS.
6.1 Introduction.
6.2 Descriptions of LADGPS, WADGPS, and SBAS.
6.3 Ground-Based Augmentation System (GBAS).
6.4 GEO Uplink Subsystem (GUS).
6.5 GUS Clock Steering Algorithms.
6.6 GEO with L1/L5 Signals.
6.7 New GUS Clock Steering Algorithm.
6.8 GEO Orbit Determination.
7 GNSS and GEO Signal Integrity.
7.1 Receiver Autonomous Integrity Monitoring (RAIM).
7.2 SBAS and GBAS Integrity Design.
7.3 SBAS example.
7.4 Conclusions.
7.5 GPS Integrity Channel (GIC).
8 Kalman Filtering.
8.1 Introduction.
8.2 Kalman Gain.
8.3 Prediction.
8.4 Summary of Kalman Filter Equations.
8.5 Accommodating Time-Correlated Noise.
8.6 Nonlinear and Adaptive Implementations.
8.7 Kalman-Bucy Filter.
8.8 GPS Receiver Examples.
8.9 Other Kalman Filter Improvements.
9 Inertial Navigation Systems.
9.1 Inertial Sensor Technologies.
9.2 Inertial Systems Technologies.
9.3 Inertial Sensor Models.
9.4 System Implementation Models.
9.5 System-Level Error Models.
10 GNSS/INS Integration.
10.1 Background.
10.2 Effects of Host Vehicle Dynamics.
10.3 Loosely Coupled Integration.
10.4 Tightly Coupled Integration.
10.5 Future Developments.
Appendix A: Software.
A.1 Software Sources.
A.2 Software for Chapter 3.
A.3 Software for Chapter 5.
A.4 Software for Chapter 8.
A.5 Software for Chapter 9.
A.6 Software for Chapter 10.
Appendix B: Vectors and Matrices.
B.1 Scalars.
B.2 Vectors.
B.3 Matrices.
B.4 Matrix Operations.
B.5 Block Matrix Formulas.
B.6 Functions of Square Matrices.
B.7 Norms.
B.8 Factorizations and Decompositions.
B.9 Quadratic Forms.
B.10 Derivatives of Matrices.
Appendix C: Coordinate Transformations.
C.1 Notation.
C.2 Inertial Reference Directions.
C.3 Coordinate Systems.
C.4 Coordinate Transformation Models.
References.
Index.

Über Autor(innen)

MOHINDER S. GREWAL, PhD, PE, is Professor of ElectricalEngineering in theCollege of Engineering and Computer Science atCalifornia State University, Fullerton.
LAWRENCE R. WEILL, PhD, is Professor Emeritus of AppliedMathematics in the College of Mathematics and Natural Sciences atCalifornia State University, Fullerton.
ANGUS P. ANDREWS, PhD, is Senior Scientist (Retired) atthe Rockwell Science Center in Thousand Oaks, California.