Global Positioning Systems, Inertial Navigation, and Integration

Mohinder S. Grewal, Lawrence Weill, Angus P. Andrews

552 pages, parution le 12/03/2007 (2^eme édition)

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Résumé

An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering

Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), 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 GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.

Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. 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 using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data
New algorithms for GEO with L1 /L5 frequencies and clock steering
Implementation of mechanization equations in numerically stable algorithms

To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, 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.

Sommaire

Introduction
Fundamentals of Satellite and Inertial Navigation
Signal Characteristics and Information Extraction
Receiver and Antenna Design
Global Navigation Satellite System Data Errors
Differential GNSS
GNSS and GEO Signal Integrity
Kalman Filtering
Inertial Navigation Systems
GNSS/INS Integration

Appendix A: Software
Appendix B: Vectors and Matrices
Appendix C: Coordinate Transformations

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Caractéristiques techniques

	PAPIER
Éditeur(s)	Wiley
Auteur(s)	Mohinder S. Grewal, Lawrence Weill, Angus P. Andrews
Parution	12/03/2007
Édition	2^eme édition
Nb. de pages	552
Format	16 x 24
Couverture	Relié
Poids	925g
Intérieur	Noir et Blanc
EAN13	9780470041901
ISBN13	978-0-470-04190-1