Global Positioning Systems, Inertial Navigation, and Integration

Beschreibung

An updated guide to GNSS and INS, and solutions to real-worldGPS/INS problems with Kalman filtering Written by recognized authorities in the field, this secondedition of a landmark work provides engineers, computer scientists,and others with a working familiarity with the theory andcontemporary applications of Global Navigation Satellite Systems(GNSS), Inertial Navigational Systems (INS), and Kalman filters.Throughout, the focus is on solving real-world problems, with anemphasis on the effective use of state-of-the-art integrationtechniques for those systems, especially the application of Kalmanfiltering. To that end, the authors explore the various subtleties,common failures, and inherent limitations of the theory as itapplies to real-world situations, and provide numerous detailedapplication examples and practice problems, including GNSS-aidedINS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, andthe Kalman filter, the authors present numerous design andimplementation techniques not found in other professionalreferences. This Second Edition has been updated to include: * GNSS signal integrity with SBAS * Mitigation of multipath, including results * Ionospheric delay estimation with Kalman filters * New MATLAB programs for satellite position determination usingalmanac and ephemeris data and ionospheric delay calculations fromsingle and dual frequency data * New algorithms for GEO with L1 /L5 frequencies and clocksteering * Implementation of mechanization equations in numerically stablealgorithms To enhance comprehension of the subjects covered, the authorshave included software in MATLAB, demonstrating the working of theGNSS, INS, and filter algorithms. In addition to showing the Kalmanfilter in action, the software also demonstrates various practicalaspects of finite word length arithmetic and the need foralternative algorithms to preserve result accuracy.

Autor*in

Mohinder S. Grewal

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Control Systems Technology Drahtlose Kommunikation Electrical & Electronics Engineering Elektrotechnik u. Elektronik GPS (Satellitengeodäsie) Mobile & Wireless Communications Regelungstechnik

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"This work is a necessary update and is recommended for academic technology collections." (E-STREAMS, September 2007)
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