Global Positioning Systems, Inertial Navigation, and Integration (eBook)
416 Seiten
Wiley (Verlag)
978-0-470-09971-1 (ISBN)
MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineering in theCollege of Engineering and Computer Science at California State University, Fullerton. LAWRENCE R. WEILL, PhD, is Professor Emeritus of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton. ANGUS P. ANDREWS, PhD, is Senior Scientist (Retired) at the Rockwell Science Center in Thousand Oaks, California.
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.
"This work is a necessary update and is recommended for academic technology collections." (E-STREAMS, September 2007)
Erscheint lt. Verlag | 20.8.2007 |
---|---|
Sprache | englisch |
Themenwelt | Naturwissenschaften ► Geowissenschaften ► Geografie / Kartografie |
Technik ► Elektrotechnik / Energietechnik | |
Technik ► Fahrzeugbau / Schiffbau | |
Schlagworte | Control Systems Technology • Drahtlose Kommunikation • Electrical & Electronics Engineering • Elektrotechnik u. Elektronik • GPS (Satellitengeodäsie) • GPS (Satellitengeodäsie) • Mobile & Wireless Communications • Regelungstechnik |
ISBN-10 | 0-470-09971-2 / 0470099712 |
ISBN-13 | 978-0-470-09971-1 / 9780470099711 |
Haben Sie eine Frage zum Produkt? |
Größe: 10,1 MB
Kopierschutz: Adobe-DRM
Adobe-DRM ist ein Kopierschutz, der das eBook vor Mißbrauch schützen soll. Dabei wird das eBook bereits beim Download auf Ihre persönliche Adobe-ID autorisiert. Lesen können Sie das eBook dann nur auf den Geräten, welche ebenfalls auf Ihre Adobe-ID registriert sind.
Details zum Adobe-DRM
Dateiformat: PDF (Portable Document Format)
Mit einem festen Seitenlayout eignet sich die PDF besonders für Fachbücher mit Spalten, Tabellen und Abbildungen. Eine PDF kann auf fast allen Geräten angezeigt werden, ist aber für kleine Displays (Smartphone, eReader) nur eingeschränkt geeignet.
Systemvoraussetzungen:
PC/Mac: Mit einem PC oder Mac können Sie dieses eBook lesen. Sie benötigen eine
eReader: Dieses eBook kann mit (fast) allen eBook-Readern gelesen werden. Mit dem amazon-Kindle ist es aber nicht kompatibel.
Smartphone/Tablet: Egal ob Apple oder Android, dieses eBook können Sie lesen. Sie benötigen eine
Geräteliste und zusätzliche Hinweise
Buying eBooks from abroad
For tax law reasons we can sell eBooks just within Germany and Switzerland. Regrettably we cannot fulfill eBook-orders from other countries.
aus dem Bereich