The Design And Analysis Of Integrated Navigation Systems Using Real Ins And Gps Data

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The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data

Author :
Publisher :
ISBN 13 :
Total Pages : 164 pages
Book Rating : 4.:/5 (227 download)

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Book Synopsis The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data by :

Download or read book The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data written by and published by . This book was released on 1994 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: An extended Kalman filter (EKF) is used to combine the information obtained from a Global Positioning System (GPS) receiver and an Inertial Navigation System (INS) to provide a navigation solution. This research compares the results of an actual tightly-coupled GPS/INS integrated system with those obtained in computer simulation. Differences between the simulation and actual hardware results, such as navigation solutions and tuning values, are shown in the research. An analysis of various GPS models was studied to determine the best representation for a system truth model. Measurement updates and their effects upon position accuracies was considered and preliminary research was conducted to determine when a feedback implementation was advantageous over a feedforward approach. The results suggest that the computer simulations being used at the Air Force Institute of Technology (AFIT) produce better navigation solutions than are actually possible with real hardware. Alternate system truth models were found which would estimate the errors of an actual system more accurately with less computational loading.

The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data

Author : Curtis D. Evans (CAPT, USAF.)
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (132 download)

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Book Synopsis The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data by : Curtis D. Evans (CAPT, USAF.)

Download or read book The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data written by Curtis D. Evans (CAPT, USAF.) and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Global Positioning Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 0471463868
Total Pages : 415 pages
Book Rating : 4.4/5 (714 download)

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Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2004-04-05 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

The Global Positioning System & Inertial Navigation

Author : Jay A. Farrell
Publisher : McGraw Hill Professional
ISBN 13 : 9780071369442
Total Pages : 360 pages
Book Rating : 4.3/5 (694 download)

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Book Synopsis The Global Positioning System & Inertial Navigation by : Jay A. Farrell

Download or read book The Global Positioning System & Inertial Navigation written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 1999-01-21 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: With GPS and INS hardware becoming ever smaller and less expensive, innovative opportunities for commercial navigation systems are everywhereÑand continue to arise. Integrated GPS/INS systems have some real advantages, in terms of output rate, reliability, and accuracy. The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. This in-depth text provides navigation system designers comprehensive and accurate coverage of such topics as coordinate frames and transformations, Kalman filtering techniques, navigation system performance analysis, GPS receiver ephemeris and pseudo-range processing, differential GPS, carrier phase processing, and attitude determination. Extensively cross-referenced to the literature on advanced navigation system design, this superb engineering reference is ideal for navigation systems designers, analysts, and project managers.

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

Author : Aboelmagd Noureldin
Publisher : Springer Science & Business Media
ISBN 13 : 3642304664
Total Pages : 324 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration by : Aboelmagd Noureldin

Download or read book Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-26 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Applied Mathematics in Integrated Navigation Systems

Author : Robert M. Rogers
Publisher : AIAA
ISBN 13 : 9781563476563
Total Pages : 356 pages
Book Rating : 4.4/5 (765 download)

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Book Synopsis Applied Mathematics in Integrated Navigation Systems by : Robert M. Rogers

Download or read book Applied Mathematics in Integrated Navigation Systems written by Robert M. Rogers and published by AIAA. This book was released on 2003 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: Descripción dele ditor: "The subject of integrated navigation systems covered in this book is designed for those directly involved with the design, integration, and test and evaluation of navigation systems. It is assumed that the reader has a background in mathematics, including calculus. Integrated navigation systems are the combination of an onboard navigation solution (position, velocity, and attitude) and independent navigation data (aids to navigation) to update or correct navigation solutions. In this book, this combination is accomplished with Kalman filter algorithms. Elements of basic mathematics, kinematics, equations describing navigation systems/sensors and their error models, aids to navigation, and Kalman filtering are developed. Detailed derivations are presented and examples are given to aid in the understanding of these elements of integrated navigation systems. Problems are included to expand the application of the materials presented. The third edition includes additional background material, exercises and software. The added material includes: development of general form for Earth's gravitational potential with simplification to an ellipsoid model; development of satellite orbital equations for position and velocity and the impact of non-spherical earth gravitation on satellite orbital parameters; and illustrations in the development of derivative-free Kalman filters including the Unscented and Divided Difference filter forms. Additional exercises are included that expand and supplement the material in the text and demonstrate properties of the Kalman filter. Additional software is included in this edition for simulating random processes and derivative-free filter implementations. This edition provides a more complete foundation for addressing the different aspects of integrated navigation systems.This BookApplied Mathematics in Integrated Navigation Systems, Third Edition coverCopyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc.https://doi.org/10.2514/4.861598Supplemental MaterialsPricesHardbackMember: $74.95List: $94.95Not an AIAA Member? Join today and start saving!Site Tools Sign up for e-alerts RSS" (ARC).

Integrated Navigation and Guidance Systems

Author : Daniel J. Biezad
Publisher : AIAA
ISBN 13 : 9781600860713
Total Pages : 262 pages
Book Rating : 4.8/5 (67 download)

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Book Synopsis Integrated Navigation and Guidance Systems by : Daniel J. Biezad

Download or read book Integrated Navigation and Guidance Systems written by Daniel J. Biezad and published by AIAA. This book was released on 1999 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Beginning with the basic principles of navigation, "Integrated Navigation and Guidance Systems takes a step beyond introductions with a concise look at the flight applications of inertial navigation systems integrated with Global Positioning System (GPS) satellite systems. Written at the senior engineering college level, the textbook takes a tutorial approach, weaving interrelated disciplines together with interactive computer exercises and AINSBOOK software for error analysis and Kalman filter simulation. Get a "technical jump start" with a look at traditional navigation radio aids, inertial guidance systems, and Kalman filters. Launch into GPS applications to navigation, precision approach and landing, attitude control, and air traffic control. More than 100 figures, photos, and tables add to the textbook's value.

Global Navigation Satellite Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 1119547830
Total Pages : 610 pages
Book Rating : 4.1/5 (195 download)

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Book Synopsis Global Navigation Satellite Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Navigation Satellite Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2020-01-22 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: Covers significant changes in GPS/INS technology, and includes new material on GPS, GNSSs including GPS, Glonass, Galileo, BeiDou, QZSS, and IRNSS/NAViC, and MATLAB programs on square root information filtering (SRIF) This book provides readers with solutions to real-world problems associated with global navigation satellite systems, inertial navigation, and integration. It presents readers with numerous detailed examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. This revised fourth edition adds new material on GPS III and RAIM. It also provides updated information on low cost sensors such as MEMS, as well as GLONASS, Galileo, BeiDou, QZSS, and IRNSS/NAViC, and QZSS. Revisions also include added material on the more numerically stable square-root information filter (SRIF) with MATLAB programs and examples from GNSS system state filters such as ensemble time filter with square-root covariance filter (SRCF) of Bierman and Thornton and SigmaRho filter. Global Navigation Satellite Systems, Inertial Navigation, and Integration, 4th Edition provides: Updates on the significant upgrades in existing GNSS systems, and on other systems currently under advanced development Expanded coverage of basic principles of antenna design, and practical antenna design solutions More information on basic principles of receiver design, and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Examples demonstrating independence of Kalman filtering from probability density functions of error sources beyond their means and covariances New coverage of inertial navigation to cover recent technology developments and the mathematical models and methods used in its implementation Wider coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB implementations, and performance evaluation under simulated dynamic conditions Global Navigation Satellite Systems, Inertial Navigation, and Integration, Fourth Edition is intended for people who need a working knowledge of Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and the Kalman filtering models and methods used in their integration.

Nonlinear Design and Analysis of Integrated GPS and Inertial Navigation Systems

Author : Bjørnar Vik
Publisher :
ISBN 13 : 9788279840411
Total Pages : 138 pages
Book Rating : 4.8/5 (44 download)

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Book Synopsis Nonlinear Design and Analysis of Integrated GPS and Inertial Navigation Systems by : Bjørnar Vik

Download or read book Nonlinear Design and Analysis of Integrated GPS and Inertial Navigation Systems written by Bjørnar Vik and published by . This book was released on 2000 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition

Author : Paul D. Groves
Publisher : Artech House
ISBN 13 : 1608070050
Total Pages : 800 pages
Book Rating : 4.6/5 (8 download)

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Book Synopsis Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition by : Paul D. Groves

Download or read book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition written by Paul D. Groves and published by Artech House. This book was released on 2013-04-01 with total page 800 pages. Available in PDF, EPUB and Kindle. Book excerpt: This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies .. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.

Observability and Performance Analysis of Integrated GPS/INS Navigation Systems

Author : Yunfeng Shao
Publisher :
ISBN 13 :
Total Pages : 264 pages
Book Rating : 4.:/5 (319 download)

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Book Synopsis Observability and Performance Analysis of Integrated GPS/INS Navigation Systems by : Yunfeng Shao

Download or read book Observability and Performance Analysis of Integrated GPS/INS Navigation Systems written by Yunfeng Shao and published by . This book was released on 2006 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Aided Navigation: GPS with High Rate Sensors

Author : Jay A. Farrell
Publisher : McGraw Hill Professional
ISBN 13 : 0071642668
Total Pages : 554 pages
Book Rating : 4.0/5 (716 download)

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Book Synopsis Aided Navigation: GPS with High Rate Sensors by : Jay A. Farrell

Download or read book Aided Navigation: GPS with High Rate Sensors written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 2008-04-03 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS

Proceedings of the IEEE 1995 National Aerospace and Electronics Conference, NAECON 1995

Author :
Publisher :
ISBN 13 :
Total Pages : 604 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Proceedings of the IEEE 1995 National Aerospace and Electronics Conference, NAECON 1995 by :

Download or read book Proceedings of the IEEE 1995 National Aerospace and Electronics Conference, NAECON 1995 written by and published by . This book was released on 1995 with total page 604 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Global Navigation Satellite Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 1118523539
Total Pages : 441 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Global Navigation Satellite Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Navigation Satellite Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2015-03-11 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), 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 GNSS-aided INS (tightly and loosely coupled), 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. The Third Edition includes: Updates on the upgrades in existing GNSS and other systems currently under development Expanded coverage of basic principles of antenna design and practical antenna design solutions Expanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Expanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementation Derivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parameters Greatly expanded coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB® implementations, and performance evaluation under simulated dynamic conditions The companion website includes updated background material; additional MATLAB scripts for simulating GNSS-only and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.

Masters Theses in the Pure and Applied Sciences

Author : Wade H. Shafer
Publisher : Springer Science & Business Media
ISBN 13 : 1461303931
Total Pages : 427 pages
Book Rating : 4.4/5 (613 download)

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Book Synopsis Masters Theses in the Pure and Applied Sciences by : Wade H. Shafer

Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS)* at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dis semination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all concerned if the printing and distribution of the volumes were handled by an international publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Corporation of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 39 (thesis year 1994) a total of 13,953 thesis titles from 21 Canadian and 159 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this impor tant annual reference work. While Volume 39 reports theses submitted in 1994, on occasion, certain uni versities do report theses submitted in previous years but not reported at the time.

Selected Papers from the 2018 IEEE International Workshop on Metrology for the Sea

Author : Attilio Di Nisio
Publisher : MDPI
ISBN 13 : 3039284061
Total Pages : 224 pages
Book Rating : 4.0/5 (392 download)

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Book Synopsis Selected Papers from the 2018 IEEE International Workshop on Metrology for the Sea by : Attilio Di Nisio

Download or read book Selected Papers from the 2018 IEEE International Workshop on Metrology for the Sea written by Attilio Di Nisio and published by MDPI. This book was released on 2020-11-13 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Special Issue is devoted to recent developments in instrumentation and measurement techniques applied to the marine field. ¶The sea is the medium that has allowed people to travel from one continent to another using vessels, even today despite the use of aircraft. It has also been acting as a great reservoir and source of food for all living beings. However, for many generations, it served as a landfill for depositing conventional and nuclear wastes, especially in its deep seabeds, and we are assisting in a race to exploit minerals and resources, different from foods, encompassed in it. Its health is a great challenge for the survival of all humanity since it is one of the most important environmental components targeted by global warming. ¶ As everyone may know, measuring is a step that generates substantial knowledge about a phenomenon or an asset, which is the basis for proposing correct solutions and making proper decisions. However, measurements in the sea environment pose unique difficulties and opportunities, which is made clear from the research results presented in this Special Issue.

Global Positioning Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 0470099712
Total Pages : 416 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2007-03-05 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.