Global Positioning Systems, Inertial Navigation, and Integration

by Mohinder S. Grewal (College of Engineering and Computer Science, California State Univ. at Fullerton); Lawrence R. Weill (College of Mathematics and Natural Sciences, California State Univ. at Fullerton); Angus P. Andrews (Rockwell Science Center, Th

• ISBN13: 9780471350323
• ISBN10: 047135032X
• Edition: Disk
• Format: Hardcover
• Copyright: 2000-12-01
• Publisher: Wiley-Interscience

Summary

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.

Author Biography

Mohinder S. Grewal, PhD, PE, is Professor of Electrical Engineering in the College of Engineering and Computer Science at California State University, Fullerton Lawrence R. Weill, PhD, is Professor of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton Angus P. Andrews, PhD, is Senior Scientist at the Rockwell Science Center in Thousand Oaks, California.

Table of Contents

Preface	ix
Acknowledgments	xiii
Acronyms	xv
Introduction	1	(8)
GPS and GLONASS Overview	2	(3)
Differential and Augmented GPS	5	(2)
Applications	7	(2)
Fundamentals of Satellite and Inertial Navigation	9	(21)
Navigation Systems Considered	9	(1)
Fundamentals of Inertial Navigation	10	(4)
Satellite Navigation	14	(10)
Time and GPS	24	(2)
User Position Calculations with No Errors	26	(2)
User Velocity Calculation with No Errors	28	(2)
Problems	29	(1)
Signal Characteristics and Information Extraction	30	(50)
Mathematical Signal Waveform Models	30	(2)
GPS Signal Components, Purposes and Properties	32	(13)
Signal Power Levels	45	(1)
Signal Acquisition and Tracking	46	(15)
Extraction of Information for Navigation Solution	61	(6)
Theoretical Considerations in Pseudorange and Frequency Estimation	67	(4)
Modernization of GPS	71	(5)
GPS Satellite Position Calculations	76	(4)
Problems	78	(2)
Receiver and Antenna Design	80	(23)
Receiver Architecture	80	(5)
Receiver Design Choices	85	(13)
Antenna Design	98	(5)
Problems	100	(3)
GPS Data Errors	103	(28)
Selective Availability Errors	103	(7)
Ionospheric Propagation Errors	110	(4)
Tropospheric Propagation Errors	114	(1)
The Multipath Problem	115	(1)
How Multipath Causes Ranging Errors	116	(2)
Methods of Multipath Mitigation	118	(6)
Theoretical Limits for Multipath Mitigation	124	(2)
Ephemeris Data Errors	126	(1)
Onboard Clock Errors	126	(1)
Receiver Clock Errors	127	(1)
Error Budgets	128	(3)
Problems	130	(1)
Inertial Navigation	131	(48)
Background	131	(4)
Inertial Sensors	135	(17)
Navigation Coordinates	152	(1)
System Implementations	153	(17)
System-Level Error Models	170	(9)
Problems	178	(1)
Kalman Filter Basics	179	(50)
Introduction	179	(2)
State and Covariance Correction	181	(9)
State and Covariance Prediction	190	(8)
Summary of Kalman Filter Equations	198	(3)
Accommodating Correlated Noise	201	(6)
Nonlinear and Adaptive Implementations	207	(6)
Kalman-Bucy Filter	213	(2)
GPS Receiver Examples	215	(14)
Problems	224	(5)
Kalman Filter Engineering	229	(36)
More Stable Implementation Methods	229	(10)
Implementation Requirements	239	(6)
Kalman Filter Monitoring	245	(5)
Schmidt-Kalman Suboptimal Filtering	250	(1)
Covariance Analysis	251	(1)
GPS/INS Integration Architectures	252	(13)
Problems	264	(1)
Differential GPS	265	(26)
Introduction	265	(1)
LADGPS, WADGPS, and WAAS	266	(3)
GEO Uplink Subsystem (GUS)	269	(7)
GEO Uplink Subsystem (GUS) Clock Steering Algorithms	276	(6)
GEO Orbit Determination	282	(9)
Problems	290	(1)
Appendix A Software	291	(5)
A.1 Chapter 3 Software	291	(1)
A.2 Chapter 5 Software	291	(1)
A.3 Chapter 6 Software	291	(1)
A.4 Chapter 7 Software	292	(2)
A.5 Chapter 8 Software	294	(2)
Appendix B Vectors and Matrices	296	(28)
B.1 Scalars	296	(1)
B.2 Vectors	297	(3)
B.3 Matrices	300	(24)
Appendix C Coordinate Transformations	324	(46)
C.1 Notation	324	(2)
C.2 Inertial Reference Directions	326	(2)
C.3 Coordinate Systems	328	(18)
C.4 Coordinate Transformation Models	346	(24)
Glossary	370	(4)
References	374	(9)
Index	383