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The Resource Principles of GNSS, inertial, and multisensor integrated navigation systems, Paul D. Groves

Principles of GNSS, inertial, and multisensor integrated navigation systems, Paul D. Groves

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Principles of GNSS, inertial, and multisensor integrated navigation systems
Title
Principles of GNSS, inertial, and multisensor integrated navigation systems
Statement of responsibility
Paul D. Groves
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Subject
Language
eng
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Cataloging source
MiAaPQ
Illustrations
illustrations
Index
index present
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
Series statement
GNSS technology and application series
Principles of GNSS, inertial, and multisensor integrated navigation systems, Paul D. Groves
Label
Principles of GNSS, inertial, and multisensor integrated navigation systems, Paul D. Groves
Link
http://libproxy.rpi.edu/login?url=https://ebookcentral.proquest.com/lib/connectny/detail.action?docID=1531533
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Copyright
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Bibliography note
Includes bibliographical references and index
Carrier category
online resource
Carrier MARC source
rdacarrier
Color
multicolored
Content category
text
Content type MARC source
rdacontent
Contents
  • Machine generated contents note: ch. 1 Introduction -- 1.1.Fundamental Concepts -- 1.2.Dead Reckoning -- 1.3.Position Fixing -- 1.3.1.Position-Fixing Methods -- 1.3.2.Signal-Based Positioning -- 1.3.3.Environmental Feature Matching -- 1.4.The Navigation System -- 1.4.1.Requirements -- 1.4.2.Context -- 1.4.3.Integration -- 1.4.4.Aiding -- 1.4.5.Assistance and Cooperation -- 1.4.6.Fault Detection -- 1.5.Overview of the Book -- References -- ch. 2 Coordinate Frames, Kinematics, and the Earth -- 2.1.Coordinate Frames -- 2.1.1.Earth-Centered Inertial Frame -- 2.1.2.Earth-Centered Earth-Fixed Frame -- 2.1.3.Local Navigation Frame -- 2.1.4.Local Tangent-Plane Frame -- 2.1.5.Body Frame -- 2.1.6.Other Frames -- 2.2.Attitude, Rotation, and Resolving Axes Transformations -- 2.2.1.Euler Attitude -- 2.2.2.Coordinate Transformation Matrix -- 2.2.3.Quaternion Attitude -- 2.2.4.Rotation Vector -- 2.3.Kinematics -- 2.3.1.Angular Rate -- 2.3.2.Cartesian Position -- 2.3.3.Velocity -- 2.3.4.Acceleration -- 2.3.5.Motion with Respect to a Rotating Reference Frame -- 2.4.Earth Surface and Gravity Models -- 2.4.1.The Ellipsoid Model of the Earth's Surface -- 2.4.2.Curvilinear Position -- 2.4.3.Position Conversion -- 2.4.4.The Geoid, Orthometric Height, and Earth Tides -- 2.4.5.Projected Coordinates -- 2.4.6.Earth Rotation -- 2.4.7.Specific Force, Gravitation, and Gravity -- 2.5.Frame Transformations -- 2.5.1.Inertial and Earth Frames -- 2.5.2.Earth and Local Navigation Frames -- 2.5.3.Inertial and Local Navigation Frames -- 2.5.4.Earth and Local Tangent-Plane Frames -- 2.5.5.Transposition of Navigation Solutions -- References -- ch. 3 Kalman Filter-Based Estimation -- 3.1.Introduction -- 3.1.1.Elements of the Kalman Filter -- 3.1.2.Steps of the Kalman Filter -- 3.1.3.Kalman Filter Applications -- 3.2.Algorithms and Models -- 3.2.1.Definitions -- 3.2.2.Kalman Filter Algorithm -- 3.2.3.System Model -- 3.2.4.Measurement Model -- 3.2.5.Kalman Filter Behavior and State Observability -- 3.2.6.Closed-Loop Kalman Filter -- 3.2.7.Sequential Measurement Update -- 3.3.Implementation Issues -- 3.3.1.Tuning and Stability -- 3.3.2.Algorithm Design -- 3.3.3.Numerical Issues -- 3.3.4.Time Synchronization -- 3.3.5.Kalman Filter Design Process -- 3.4.Extensions to the Kalman Filter -- 3.4.1.Extended and Linearized Kalman Filter -- 3.4.2.Unscented Kalman Filter -- 3.4.3.Time-Correlated Noise -- 3.4.4.Adaptive Kalman Filter -- 3.4.5.Multiple-Hypothesis Filtering -- 3.4.6.Kalman Smoothing -- 3.5.The Particle Filter -- References -- ch. 4 Inertial Sensors -- 4.1.Accelerometers -- 4.1.1.Pendulous Accelerometers -- 4.1.2.Vibrating-Beam Accelerometers -- 4.2.Gyroscopes -- 4.2.1.Optical Gyroscopes -- 4.2.2.Vibratory Gyroscopes -- 4.3.Inertial Measurement Units -- 4.4.Error Characteristics -- 4.4.1.Biases -- 4.4.2.Scale Factor and Cross-Coupling Errors -- 4.4.3.Random Noise -- 4.4.4.Further Error Sources -- 4.4.5.Vibration-Induced Errors -- 4.4.6.Error Models -- References -- ch. 5 Inertial Navigation -- 5.1.Introduction to Inertial Navigation -- 5.2.Inertial-Frame Navigation Equations -- 5.2.1.Attitude Update -- 5.2.2.Specific-Force Frame Transformation -- 5.2.3.Velocity Update -- 5.2.4.Position Update -- 5.3.Earth-Frame Navigation Equations -- 5.3.1.Attitude Update -- 5.3.2.Specific-Force Frame Transformation -- 5.3.3.Velocity Update -- 5.3.4.Position Update -- 5.4.Local-Navigation-Frame Navigation Equations -- 5.4.1.Attitude Update -- 5.4.2.Specific-Force Frame Transformation -- 5.4.3.Velocity Update -- 5.4.4.Position Update -- 5.4.5.Wander-Azimuth Implementation -- 5.5.Navigation Equations Optimization -- 5.5.1.Precision Attitude Update -- 5.5.2.Precision Specific-Force Frame Transformation -- 5.5.3.Precision Velocity and Position Updates -- 5.5.4.Effects of Sensor Sampling Interval and Vibration -- 5.5.5.Design Tradeoffs -- 5.6.Initialization and Alignment -- 5.6.1.Position and Velocity Initialization -- 5.6.2.Attitude Initialization -- 5.6.3.Fine Alignment -- 5.7.INS Error Propagation -- 5.7.1.Short-Term Straight-Line Error Propagation -- 5.7.2.Medium- and Long-Term Error Propagation -- 5.7.3.Maneuver-Dependent Errors -- 5.8.Indexed IMU -- 5.9.Partial IMU -- References -- ch. 6 Dead Reckoning, Attitude, and Height Measurement -- 6.1.Attitude Measurement -- 6.1.1.Magnetic Heading -- 6.1.2.Marine Gyrocompass -- 6.1.3.Strapdown Yaw-Axis Gyro -- 6.1.4.Heading from Trajectory -- 6.1.5.Integrated Heading Determination -- 6.1.6.Accelerometer Leveling and Tilt Sensors -- 6.1.7.Horizon Sensing -- 6.1.8.Attitude and Heading Reference System -- 6.2.Height and Depth Measurement -- 6.2.1.Barometric Altimeter -- 6.2.2.Depth Pressure Sensor -- 6.2.3.Radar Altimeter -- 6.3.Odometry -- 6.3.1.Linear Odometry -- 6.3.2.Differential Odometry -- 6.3.3.Integrated Odometry and Partial IMU -- 6.4.Pedestrian Dead Reckoning Using Step Detection -- 6.5.Doppler Radar and Sonar -- 6.6.Other Dead-Reckoning Techniques -- 6.6.1.Correlation-Based Velocity Measurement -- 6.6.2.Air Data -- 6.6.3.Ship's Speed Log -- References -- ch. 7 Principles of Radio Positioning -- 7.1.Radio Positioning Configurations and Methods -- 7.1.1.Self-Positioning and Remote Positioning -- 7.1.2.Relative Positioning -- 7.1.3.Proximity -- 7.1.4.Ranging -- 7.1.5.Angular Positioning -- 7.1.6.Pattern Matching -- 7.1.7.Doppler Positioning -- 7.2.Positioning Signals -- 7.2.1.Modulation Types -- 7.2.2.Radio Spectrum -- 7.3.User Equipment -- 7.3.1.Architecture -- 7.3.2.Signal Timing Measurement -- 7.3.3.Position Determination from Ranging -- 7.4.Propagation, Error Sources, and Positioning Accuracy -- 7.4.1.Ionosphere, Troposphere, and Surface Propagation Effects -- 7.4.2.Attenuation, Reflection, Multipath, and Diffraction -- 7.4.3.Resolution, Noise, and Tracking Errors -- 7.4.4.Transmitter Location and Timing Errors -- 7.4.5.Effect of Signal Geometry -- References -- ch. 8 GNSS: Fundamentals, Signals, and Satellites -- 8.1.Fundamentals of Satellite Navigation -- 8.1.1.GNSS Architecture -- 8.1.2.Signals and Range Measurement -- 8.1.3.Positioning -- 8.1.4.Error Sources and Performance Limitations -- 8.2.The Systems -- 8.2.1.Global Positioning System -- 8.2.2.GLONASS -- 8.2.3.Galileo -- 8.2.4.Beidou -- 8.2.5.Regional Systems -- 8.2.6.Augmentation Systems -- 8.2.7.System Compatibility -- 8.3.GNSS Signals -- 8.3.1.Signal Types -- 8.3.2.Global Positioning System -- 8.3.3.GLONASS -- 8.3.4.Galileo -- 8.3.5.Beidou -- 8.3.6.Regional Systems -- 8.3.7.Augmentation Systems -- 8.4.Navigation Data Messages -- 8.4.1.GPS -- 8.4.2.GLONASS -- 8.4.3.Galileo -- 8.4.4.SBAS -- 8.4.5.Time Base Synchronization -- 8.5.Satellite Orbits and Geometry -- 8.5.1.Satellite Orbits -- 8.5.2.Satellite Position and Velocity -- 8.5.3.Range, Range Rate, and Line of Sight -- 8.5.4.Elevation and Azimuth -- References -- ch. 9 GNSS: User Equipment Processing and Errors -- 9.1.Receiver Hardware and Antenna -- 9.1.1.Antennas -- 9.1.2.Reference Oscillator -- 9.1.3.Receiver Front End -- 9.1.4.Baseband Signal Processor -- 9.2.Ranging Processor -- 9.2.1.Acquisition -- 9.2.2.Code Tracking -- 9.2.3.Carrier Tracking -- 9.2.4.Tracking Lock Detection -- 9.2.5.Navigation-Message Demodulation -- 9.2.6.Carrier-Power-to-Noise-Density Measurement -- 9.2.7.Pseudo-Range, Pseudo-Range-Rate, and Carrier-Phase Measurements -- 9.3.Range Error Sources -- 9.3.1.Ephemeris Prediction and Satellite Clock Errors -- 9.3.2.Ionosphere and Troposphere Propagation Errors -- 9.3.3.Tracking Errors -- 9.3.4.Multipath, Nonline-of-Sight, and Diffraction -- 9.4.Navigation Processor -- 9.4.1.Single-Epoch Navigation Solution -- 9.4.2.Filtered Navigation Solution -- 9.4.3.Signal Geometry and Navigation Solution Accuracy -- 9.4.4.Position Error Budget -- References -- ch. 10 GNSS: Advanced Techniques -- 10.1.Differential GNSS -- 10.1.1.Spatial and Temporal Correlation of GNSS Errors -- 10.1.2.Local and Regional Area DGNSS -- 10.1.3.Wide Area DGNSS and Precise Point Positioning -- 10.1.4.Relative GNSS -- 10.2.Real-Time Kinematic Carrier-Phase Positioning and Attitude Determination -- 10.2.1.Principles of Accumulated Delta Range Positioning -- 10.2.2.Single-Epoch Navigation Solution Using Double-Differenced ADR -- 10.2.3.Geometry-Based Integer Ambiguity Resolution -- 10.2.4.Multifrequency Integer Ambiguity Resolution -- 10.2.5.GNSS Attitude Determination -- 10.3.Interference Rejection and Weak Signal Processing -- 10.3.1.Sources of Interference, Jamming, and Attenuation -- 10.3.2.Antenna Systems -- 10.3.3.Receiver Front-End Filtering -- 10.3.4.Extended Range Tracking -- 10.3.5.Receiver Sensitivity -- 10.3.6.Combined Acquisition and Tracking -- 10.3.7.Vector Tracking -- 10.4.Mitigation of Multipath Interference and Nonline-of-Sight Reception -- 10.4.1.Antenna-Based Techniques -- 10.4.2.Receiver-Based Techniques -- 10.4.3.Navigation-Processor-Based Techniques -- 10.5.Aiding, Assistance, and Orbit Prediction -- 10.5.1.Acquisition and Velocity Aiding -- 10.5.2.Assisted GNSS -- 10.5.3.Orbit Prediction -- 10.6.Shadow Matching -- References -- ch. 11 Long- and Medium-Range Radio Navigation -- 11.1.Aircraft Navigation Systems -- 11.1.1.Distance Measuring Equipment -- 11.1.2.Range-Bearing Systems -- 11.1.3.Nondirectional Beacons -- 11.1.4.JTIDS/MIDS Relative Navigation -- 11.1.5.Future Air Navigation Systems -- 11.2.Enhanced Loran -- 11.2.1.Signals -- 11.2.2.User Equipment and Positioning -- 11.2.3.Error Sources -- 11.2.4.Differential Loran -- 11.3.Phone Positioning -- 11.3.1.Proximity and Pattern Matching -- 11.3.2.Ranging -- 11.4.Other Systems -- 11.4.1.Iridium Positioning -- 11.4.2.Marine Radio Beacons -- 11.4.3.AM Radio Broadcasts -- 11.4.4.FM Radio Broadcasts -- 11.4.5.Digital Television and Radio -- 11.4.6.Generic Radio Positioning -- References -- ch. 12 Short-Range Positioning -- 12.1.Pseudolites -- 12.1.1.In-Band Pseudolites -- 12.1.2.Locata and Terralite XPS -- 12.1.3.Indoor Messaging System -- 12.2.Ultrawideband -- 12.2.1.Modulation Schemes -- 12.2.2.Signal Timing -- 12.2.3.Positioning --
  • Note continued: 12.3.Short-Range Communications Systems -- 12.3.1.Wireless Local Area Networks (Wi-Fi) -- 12.3.2.Wireless Personal Area Networks -- 12.3.3.Radio Frequency Identification -- 12.3.4.Bluetooth Low Energy -- 12.3.5.Dedicated Short-Range Communication -- 12.4.Underwater Acoustic Positioning -- 12.5.Other Positioning Technologies -- 12.5.1.Radio -- 12.5.2.Ultrasound -- 12.5.3.Infrared -- 12.5.4.Optical -- 12.5.5.Magnetic -- References -- ch. 13 Environmental Feature Matching -- 13.1.Map Matching -- 13.1.1.Digital Road Maps -- 13.1.2.Road Link Identification -- 13.1.3.Road Positioning -- 13.1.4.Rail Map Matching -- 13.1.5.Pedestrian Map Matching -- 13.2.Terrain-Referenced Navigation -- 13.2.1.Sequential Processing -- 13.2.2.Batch Processing -- 13.2.3.Performance -- 13.2.4.Laser TRN -- 13.2.5.Sonar TRN -- 13.2.6.Barometric TRN -- 13.2.7.Terrain Database Height Aiding -- 13.3.Image-Based Navigation -- 13.3.1.Imaging Sensors -- 13.3.2.Image Feature Comparison -- 13.3.3.Position Fixing Using Individual Features -- 13.3.4.Position Fixing by Whole-Image Matching -- 13.3.5.Visual Odometry -- 13.3.6.Feature Tracking -- 13.3.7.Stellar Navigation -- 13.4.Other Feature-Matching Techniques -- 13.4.1.Gravity Gradiometry -- 13.4.2.Magnetic Field Variation -- 13.4.3.Celestial X-Ray Sources -- References -- ch. 14 INS/GNSS Integration -- 14.1.Integration Architectures -- 14.1.1.Correction of the Inertial Navigation Solution -- 14.1.2.Loosely Coupled Integration -- 14.1.3.Tightly Coupled Integration -- 14.1.4.GNSS Aiding -- 14.1.5.Deeply Coupled Integration -- 14.2.System Model and State Selection -- 14.2.1.State Selection and Observability -- 14.2.2.INS State Propagation in an Inertial Frame -- 14.2.3.INS State Propagation in an Earth Frame -- 14.2.4.INS State Propagation Resolved in a Local Navigation Frame -- 14.2.5.Additional IMU Error States -- 14.2.6.INS System Noise -- 14.2.7.GNSS State Propagation and System Noise -- 14.2.8.State Initialization -- 14.3.Measurement Models -- 14.3.1.Loosely Coupled Integration -- 14.3.2.Tightly Coupled Integration -- 14.3.3.Deeply Coupled Integration -- 14.3.4.Estimation of Attitude and Instrument Errors -- 14.4.Advanced INS/GNSS Integration -- 14.4.1.Differential GNSS -- 14.4.2.Carrier-Phase Positioning -- 14.4.3.GNSS Attitude -- 14.4.4.Large Heading Errors -- 14.4.5.Advanced IMU Error Modeling -- 14.4.6.Smoothing -- References -- ch. 15 INS Alignment, Zero Updates, and Motion Constraints -- 15.1.Transfer Alignment -- 15.1.1.Conventional Measurement Matching -- 15.1.2.Rapid Transfer Alignment -- 15.1.3.Reference Navigation System -- 15.2.Quasi-Stationary Alignment -- 15.2.1.Coarse Alignment -- 15.2.2.Fine Alignment -- 15.3.Zero Updates -- 15.3.1.Stationary-Condition Detection -- 15.3.2.Zero Velocity Update -- 15.3.3.Zero Angular Rate Update -- 15.4.Motion Constraints -- 15.4.1.Land Vehicle Constraints -- 15.4.2.Pedestrian Constraints -- 15.4.3.Ship and Boat Constraint -- References -- ch. 16 Multisensor Integrated Navigation -- 16.1.Integration Architectures -- 16.1.1.Cascaded Single-Epoch Integration -- 16.1.2.Centralized Single-Epoch Integration -- 16.1.3.Cascaded Filtered Integration -- 16.1.4.Centralized Filtered Integration -- 16.1.5.Federated Filtered Integration -- 16.1.6.Hybrid Integration Architectures -- 16.1.7.Total-State Kalman Filter Employing Prediction -- 16.1.8.Error-State Kalman Filter -- 16.1.9.Primary and Reversionary Moding -- 16.1.10.Context-Adaptive Moding -- 16.2.Dead Reckoning, Attitude, and Height Measurement -- 16.2.1.Attitude -- 16.2.2.Height and Depth -- 16.2.3.Odometry -- 16.2.4.Pedestrian Dead Reckoning Using Step Detection -- 16.2.5.Doppler Radar and Sonar -- 16.2.6.Visual Odometry and Terrain-Referenced Dead Reckoning -- 16.3.Position-Fixing Measurements -- 16.3.1.Position Measurement Integration -- 16.3.2.Ranging Measurement Integration -- 16.3.3.Angular Measurement Integration -- 16.3.4.Line Fix Integration -- 16.3.5.Handling Ambiguous Measurements -- 16.3.6.Feature Tracking and Mapping -- 16.3.7.Aiding of Position-Fixing Systems -- References -- ch. 17 Fault Detection, Integrity Monitoring, and Testing -- 17.1.Failure Modes -- 17.1.1.Inertial Navigation -- 17.1.2.Dead Reckoning, Attitude, and Height Measurement -- 17.1.3.GNSS -- 17.1.4.Terrestrial Radio Navigation -- 17.1.5.Environmental Feature Matching and Tracking -- 17.1.6.Integration Algorithm -- 17.1.7.Context -- 17.2.Range Checks -- 17.2.1.Sensor Outputs -- 17.2.2.Navigation Solution -- 17.2.3.Kalman Filter Estimates -- 17.3.Kalman Filter Measurement Innovations -- 17.3.1.Innovation Filtering -- 17.3.2.Innovation Sequence Monitoring -- 17.3.3.Remedying Biased State Estimates -- 17.4.Direct Consistency Checks -- 17.4.1.Measurement Consistency Checks and RAIM -- 17.4.2.Parallel Solutions -- 17.5.Infrastructure-Based Integrity Monitoring -- 17.6.Solution Protection and Performance Requirements -- 17.7.Testing -- 17.7.1.Field Trials -- 17.7.2.Recorded Data Testing -- 17.7.3.Laboratory Testing -- 17.7.4.Software Simulation -- References -- ch. 18 Applications and Future Trends -- 18.1.Design and Development -- 18.2.Aviation -- 18.3.Guided Weapons and Small UAVs -- 18.4.Land Vehicle Applications -- 18.5.Rail Navigation -- 18.6.Marine Navigation -- 18.7.Underwater Navigation -- 18.8.Spacecraft Navigation -- 18.9.Pedestrian Navigation -- 18.10.Other Applications -- 18.11.Future Trends -- References
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Second edition.
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9781608070060
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computer
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rdamedia
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illustrations.
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