Navigation

by Hofmann-Wellenhof, Bernhard; Legat, Klaus; Wieser, Manfred; Lichtenegger, H. (CON)

• ISBN13: 9783211008287
• ISBN10: 3211008284
• Format: Paperback
• Copyright: 2003-10-01
• Publisher: Springer Verlag

Summary

Global positioning systems like GPS or the future European Galileo are influencing the world of navigation tremendously. Today, everybody is concerned with navigation even if unaware of this fact. Therefore, the interest in navigation is steadily increasing.This book provides an encyclopedic view of navigation. Fundamental elements are presented for a better understanding of the techniques, methods, and systems used in positioning and guidance.The book consists of three parts. Beside a historical review and maps, the first part covers mathematical and physical fundamentals. The second part treats the methods of positioning including terrestrial, celestial, radio- and satellite-based, inertial, image-based, and integrated navigation. Routing and guidance are the main topics of the third part. Applications on land, at sea, in the air, and in space are considered, followed by a critical outlook on the future of navigation.This book is designed for students, teachers, and people interested in entering the complex world of navigation.

Table of Contents

Abbreviations and acronyms	xxi
Introduction	1	(8)
Goals and structure of the book	1	(1)
Definitions and terms	1	(3)
Quality parameters	4	(1)
Applications and phases of navigation	5	(1)
User requirements	6	(1)
Miscellaneous	7	(2)
Historical review	9	(10)
Origins of navigation	9	(1)
Hellenistic period and Roman Empire	10	(1)
Middle ages	11	(1)
Seventeenth and eighteenth century	12	(1)
Nineteenth and twentieth century	13	(6)
Mathematical fundamentals	19	(40)
Reference frames	19	(12)
Definitions	19	(4)
Transformations	23	(6)
Differential relations	29	(2)
Principles of position determination	31	(8)
Dead reckoning	31	(1)
Position fixing	32	(7)
Principles of velocity determination	39	(4)
Velocity vector	39	(1)
Course angle	39	(4)
Principles of attitude determination	43	(3)
Rigorous solution strategy	43	(2)
Least squares approach	45	(1)
Accuracy measures	46	(3)
Definitions	46	(3)
Accuracy equivalences	49	(1)
Least squares estimation	49	(6)
Least squares adjustment by parameters	49	(1)
Recursive least squares adjustment	50	(2)
Discrete Kalman filtering	52	(3)
Principles of routing and guidance	55	(4)
Graph theory	55	(1)
Combinatorial optimization	56	(3)
Physical fundamentals	59	(18)
Fundamentals of electromagnetic waves	59	(6)
Definition of electromagnetic waves	59	(3)
Doppler frequency shift	62	(1)
The electromagnetic spectrum	62	(3)
Electromagnetic wave propagation	65	(10)
Terminology	65	(1)
Atmospheric structure	66	(4)
Phase and group velocity	70	(2)
Line-of-sight, ground, and sky waves	72	(3)
Observables from electromagnetic waves	75	(2)
Ranges and pseudoranges	75	(1)
Range rates and velocities	76	(1)
Directions	76	(1)
Maps	77	(22)
Introduction	77	(1)
Types of maps	78	(2)
Map projections	80	(3)
Digital maps	83	(16)
Definitions	83	(1)
Modeling and graph theory	84	(6)
Navigable maps and requirements	90	(3)
Standardization and products	93	(6)
Terrestrial navigation	99	(22)
Introduction	99	(6)
Definitions	99	(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