Inertial Navigation Systems with Geodetic Applications (eBook)

Christopher Jekeli (Autor)

eBook Download: PDF

2001
365 Seiten
De Gruyter (Verlag)
978-3-11-080023-4 (ISBN)

Infos

This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with the Global Positioning System (GPS) for geodetic applications. Complete mathematical derivations are given. Both stabilized and strapdown mechanizations are treated in detail. Derived algorithms to process sensor data and a comprehensive explanation of the error dynamics provide not only an analytical understanding but also a practical implementation of the concepts. A self-contained description of GPS, with emphasis on kinematic applications, is one of the highlights in this book.
The text is of interestto geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing.

Inhalt

1 Coordinate Frames and Transformations 15
1.1 Introduction 15
1.2 Coordinate Frames 17
1.3 Transformations 23
1.4 Differential Equation of the Transformation 34
1.5 Specific Coordinate Transformations 36
1.6 Fourier Transforms 41
2 Ordinary Differential Equations 45
2.1 Introduction 45
2.2 Linear Differential Equations 46
2.3 General Solution of Linear Differential Equations 47
2.4 Numerical Methods 58
3 Inertial Measurement Units 65
3.1 Introduction 65
3.2 Gyroscopes 67
3.3 Accelerometer 100
4 Inertial Navigation System 115
4.1 Introduction 115
4.2 Mechanizations 118
4.3 Navigation Equations 137
5 System Error Dynamics 153
5.1 Introduction 153
5.2 Simplified Analysis 154
5.3 Linearized Error Equations 161
5.4 Approximate Analysis 171
6 Stochastic Processes and Error Models 179
6.1 Introduction 179
6.2 Probability Theory 179
6.3 Stochastic Processes 186
6.4 White Noise 191
6.5 Stochastic Error Models 193
6.6 Gravity Models 200
6.7 Examples of IMU Error Processes 209
7 Linear Estimation 211
7.1 Introduction 211
7.2 Bayesian Estimation 213
7.3 Discrete Kalman Filter 221
7.4 Discrete Linear Dynamics Model 234
7.5 Modifications 237
7.6 A Simple Example 241
7.7 Continuous Kalman Filter 244
8 INS Initialization and Alignment 252
8.1 Introduction 252
8.2 Coarse Alignment 254
8.3 Fine Alignment and Calibration 257
9 The Global Positioning System (GPS) 269
9.1 Introduction 269
9.2 Global Positioning System 273
9.3 GPS Observables 280
9.4 GPS Errors 283
9.5 Combinations of Observations 287
9.6 Kinematic Positioning 296
10 Geodetic Application 309
10.1 Introduction 309
10.2 Inertial Survey System 311
10.3 GPS/INS Integration 320
10.4 Moving-Base Gravimetry 334
References 350
Index 357

Produkt-Details

• Erscheint lt. Verlag: 25.10.2012
• Zusatzinfo: Num. figs.
• Verlagsort: Berlin/Boston
• Sprache: englisch
• Themenwelt: Naturwissenschaften ► Geowissenschaften ► Geografie / Kartografie
• Themenwelt: Technik
• Schlagworte: Trägheitsnavigation
• ISBN-10: 3-11-080023-3 / 3110800233
• ISBN-13: 978-3-11-080023-4 / 9783110800234