Navigation: Principles of Positioning and Guidance: Hofmann-Wellenhof, Bernhard; Legat, Klaus; Wieser, Manfred: 9783211008287: Book: Computers & Technology: eCampus.com

Global navigation satellite systems like GPS or the future European Galileo are revolutionizing the world of navigation. Navigation presents the fundamentals for understanding the techniques, methods, and systems used in positioning and guidance. Including a historical review and maps, the first part covers mathematical and physical fundamentals. The second part treats the methods of positioning including terrestrial, celestial, satellite-based, inertial, image-based, and integrated navigation. The third part discusses routing and guidance.

Abbreviations and acronyms

xxi

Introduction

(8)

Goals and structure of the book

(1)

Definitions and terms

(3)

Quality parameters

(1)

Applications and phases of navigation

(1)

User requirements

(1)

Miscellaneous

(2)

Historical review

(10)

Origins of navigation

(1)

Hellenistic period and Roman Empire

(1)

Middle ages

(1)

Seventeenth and eighteenth century

(1)

Nineteenth and twentieth century

(6)

Mathematical fundamentals

(40)

Reference frames

(12)

Definitions

(4)

Transformations

(6)

Differential relations

(2)

Principles of position determination

(8)

Dead reckoning

(1)

Position fixing

(7)

Principles of velocity determination

(4)

Velocity vector

(1)

Course angle

(4)

Principles of attitude determination

(3)

Rigorous solution strategy

(2)

Least squares approach

(1)

Accuracy measures

(3)

Definitions

(3)

Accuracy equivalences

(1)

Least squares estimation

(6)

Least squares adjustment by parameters

(1)

Recursive least squares adjustment

(2)

Discrete Kalman filtering

(3)

Principles of routing and guidance

(4)

Graph theory

(1)

Combinatorial optimization

(3)

Physical fundamentals

(18)

Fundamentals of electromagnetic waves

(6)

Definition of electromagnetic waves

(3)

Doppler frequency shift

(1)

The electromagnetic spectrum

(3)

Electromagnetic wave propagation

(10)

Terminology

(1)

Atmospheric structure

(4)

Phase and group velocity

(2)

Line-of-sight, ground, and sky waves

(3)

Observables from electromagnetic waves

(2)

Ranges and pseudoranges

(1)

Range rates and velocities

(1)

Directions

(1)

Maps

(22)

Introduction

(1)

Types of maps

(2)

Map projections

(3)

Digital maps

(16)

Definitions

(1)

Modeling and graph theory

(6)

Navigable maps and requirements

(3)

Standardization and products

(6)

Terrestrial navigation

(22)

Introduction

(6)

Definitions

(1)

Units

100

(1)

Terms

101

(4)

Instruments and observables

105

(10)

Ranges

105

(3)

Heights and depths

108

(1)

Velocities

109

(2)

Directions

111

(2)

Time

113

(2)

Position determination

115

(1)

Techniques

115

(1)

Nonsimultaneous observations

115

(1)

Drift

116

(5)

Drift determination

117

(1)

Drift correction

118

(3)

Celestial navigation

121

(18)

Introduction

121

(1)

Astronomical basics

122

(7)

Coordinate systems

122

(5)

Time systems

127

(2)

Celestial fix by spherical resection

129

(6)

Observation of altitudes

130

(2)

Mathematical model

132

(3)

Star tracker

135

(2)

Star sensor

135

(1)

Mathematical model

136

(1)

Reduction of star coordinates

137

(1)

Internet sources on celestial navigation

137

(2)

Terrestrial radio navigation

139

(30)

Introduction

139

(1)

Point source systems

139

(6)

Direction finders

139

(2)

Nondirectional beacon

141

(1)

Marker beacon

141

(1)

VHF omnidirectional range

142

(1)

Doppler VOR

143

(1)

Distance measuring equipment

143

(1)

Tactical air navigation

144

(1)

Area-based systems

145

(18)

Phased-out systems

146

(1)

Loran-C

147

(9)

Datatrak

156

(2)

Digital television networks

158

(1)

Cellular communication networks

159

(4)

Aircraft landing systems

163

(6)

Instrument landing system

163

(3)

Microwave landing system

166

(3)

Satellite-based navigation

169

(22)

Introduction

169

(1)

Early systems

169

(3)

Transit

169

(3)

Tsikada

172

(1)

GPS

172

(11)

Basic concept

172

(1)

System architecture

173

(3)

Satellite signal and observables

176

(2)

System capabilities and accuracies

178

(3)

Modernization concept

181

(2)

Glonass

183

(2)

System architecture

183

(1)

Comparison of GPS and GLONASS

184

(1)

Galileo

185

(4)

Basic concept

185

(1)

System architecture

186

(1)

Satellite signal and observables

187

(1)

System services

188

(1)

Other satellite-based navigation systems

189

(2)

Augmentation systems

191

(24)

Introduction

191

(2)

Differential GNSS

193

(13)

Principle

193

(1)

Mathematical models

194

(5)

Systems and concepts

199

(2)

Multiple-reference-station concept

201

(1)

Data transfer

202

(4)

Integrity monitoring

206

(3)

Integrity-monitoring services

208

(1)

Receiver autonomous integrity monitoring

208

(1)

Examples of augmentation systems

209

(6)

Ground-based systems

209

(3)

Space-based systems

212

(3)

Inertial navigation

215

(32)

Introduction

215

(3)

Sensors

218

(9)

Accelerometers

218

(3)

Gyroscopes

221

(6)

Navigation equations

227

(9)

Platform types

227

(2)

Inertial frame

229

(1)

Local-level frame

230

(6)

Platform alignment

236

(2)

Initial alignment

236

(2)

Error control

238

(1)

Navigation performance

238

(9)

Simplified error analysis

238

(5)

Influence of sensor errors

243

(2)

Total system performance

245

(2)

Image-based navigation

247

(30)

Introduction

247

(6)

Definitions

247

(1)

Navigation techniques

248

(1)

Specific reference frames

248

(3)

Sensors

251

(2)

Impacts on image-based navigation

253

(11)

Photogrammetry

253

(6)

Digital image processing

259

(4)

Computer vision

263

(1)

Image sequence analysis

264

(8)

Analysis criteria

265

(1)

Processing strategy

266

(3)

Image correspondence techniques

269

(3)

Image-based navigation techniques

272

(5)

Self-positioning

272

(2)

Remote positioning

274

(1)

Exemplary realizations

275

(2)

Integrated navigation

277

(22)

Introduction

277

(1)

Advanced Kalman filtering

277

(4)

Principles of sensor fusion

281

(3)

Motivation and classification

281

(1)

Filter design

282

(2)

Typical multisensor systems

284

(15)

GNSS and dead reckoning

284

(4)

GNSS and INS

288

(3)

GNSS and Loran-C

291

(3)

GPS, GLONASS, and Galileo

294

(1)

Map aiding

295

(4)

Routing and guidance

299

(38)

Introduction

299

(1)

Route planning

299

(30)

Fundamental approach

299

(13)

Path algorithm realization

312

(9)

Complex applications

321

(8)

Route guidance

329

(8)

Map matching

329

(4)

Guidance -- the whole concept

333

(4)

Vehicle and traffic management

337

(24)

Introduction

337

(5)

Development of ITS

338

(3)

Specific aspects

341

(1)

Land-based traffic management

342

(9)

In-vehicle navigation systems

343

(2)

Advisory routing systems

345

(3)

Fleet management systems

348

(2)

Desktop routing systems

350

(1)

Maritime traffic management

351

(4)

Electronic chart display and information system

352

(2)

Vessel traffic services

354

(1)

Air traffic management

355

(6)

Flight management system

356

(1)

Air traffic control

357

(1)

Air traffic services

358

(3)

Application examples

361

(32)

Conventional applications

361

(14)

Land navigation

361

(1)

Marine navigation

362

(4)

Aeronautic navigation

366

(7)

Space navigation

373

(2)

Specific applications

375

(11)

Pedestrian navigation

375

(2)

Indoor navigation

377

(2)

Mobile mapping

379

(2)

Location-based services

381

(3)

Mobile robotics

384

(2)

Other applications

386

(7)

Geodesy

386

(4)

Timing

390

(1)

Miscellaneous applications

390

(3)

Critical outlook

393

(4)

References

397

(12)

Index

409




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