GLOBAL POSITIONING SYSTEMS，INERTIAL NAVIGATION，AND INTERGRATION 2/E-FindBook 找書網 ISBN:9780470041901

內容簡介

　　This book is intended for people who need to combine Global Navigation Satellite Systems (GNSS)，Inertial Navigation Systems (INS)，and Kalman filters. The objective is to give our readers a working familiarity with both the theoretical and practical aspects of these subjects. The accompanying CD-ROM contains MATLABTM m-files to demonstrate the workings of the Kalman filter algorithms with GNSS and INS data sets，so that the reader can better discover how the Kalman filter works by observing it in action with GNSS and INS.

本書特色

　　1.Addresses state of the art technologies，including detailed attention to integrity of design not covered in currently published books.

　　2. Covers new developments in augmentation systems for satellite navigation, including Wide Area Differential GPS (WADGPS)，Local Area Differential GPS (LADGPS)，Space Based Augmentation Systems (SBAS)，and Ground Based Augmentation Systems (GBAS)

　　3. Book is accompanied by a Solutions Manual for instructors

　　4. Covers Kalman filtering and applications to GPS/INS in one volume.

　　5. Software included demonstrates the workings of the Kalman filter algorithms with GNSS and INS data set.

　　6. New signal structures for GPS，GLONASS and GALILEO.

　　7.New developments in augmentation systems for satellite navigation, including(a) Wide Area Differential GPS (WADGPS)(b) Local Area Differential GPS (LADGPS)(c) Space Based Augmentation Systems (SBAS)(d) Ground Based Augmentation Systems (GBAS)

　　8. Recent improvements in multipath mitigation techniques，and new clock steering algorithms.

　　9. A new chapter on satellite system integrity monitoring.

　　10. More thorough coverage of INS technology, including development of error models and simulations in MATLAB for demonstrating system performance.

　　11. A new chapter on GPS/INS integration，includingMATLAB simulations of different levels of tight/loose coupling.

3.1 Mathematical Signal Waveform Models.
3.2 GPS Signal Components, Purposes，and Properties.
3.3 Signal Power Levels.
3.4 Signal Acquisition and Tracking.
3.5 Extraction of Information for Navigation Solution.
3.6 Theoretical Considerations in Pseudorange and Frequency Estimation.
3.7 Modernization of GPS.

4 Receiver and Antenna Design.

4.1 Receiver Architecture.
4.2 Receiver Design Choices.
4.3 High-Sensitivity-Assisted GPS Systems (Indoor Positioning).
4.4 Antenna Design.

5 Global Navigation Satellite System Data Errors.

5.1 Selective Availability Errors.
5.2 Ionospheric Propagation Errors.
5.3 Tropospheric Propagation Errors.
5.4 The Multipath Problem.
5.5 How Multipath Causes Ranging Errors.
5.6 Methods of Multipath Mitigation.
5.7 Theoretical Limits for Multipath Mitigation.
5.8 Ephemeris Data Errors.
5.9 Onboard Clock Errors.
5.10 Receiver Clock Errors.
5.11 Error Budgets.
5.12 Differential GNSS.
5.13 GPS Precise Point Positioning Services and Products.

6 Differential GNSS.

6.1 Introduction.
6.2 Descriptions of LADGPS, WADGPS, and SBAS.
6.3 Ground-Based Augmentation System (GBAS).
6.4 GEO Uplink Subsystem (GUS).
6.5 GUS Clock Steering Algorithms.
6.6 GEO with L1/L5 Signals.
6.7 New GUS Clock Steering Algorithm.
6.8 GEO Orbit Determination.

7 GNSS and GEO Signal Integrity.

7.1 Receiver Autonomous Integrity Monitoring (RAIM).
7.2 SBAS and GBAS Integrity Design.
7.3 SBAS example.
7.4 Conclusions.
7.5 GPS Integrity Channel (GIC).

8 Kalman Filtering.

8.1 Introduction.
8.2 Kalman Gain.
8.3 Prediction.
8.4 Summary of Kalman Filter Equations.
8.5 Accommodating Time-Correlated Noise.
8.6 Nonlinear and Adaptive Implementations.
8.7 Kalman–Bucy Filter.
8.8 GPS Receiver Examples.
8.9 Other Kalman Filter Improvements.

9 Inertial Navigation Systems.

9.1 Inertial Sensor Technologies.
9.2 Inertial Systems Technologies.
9.3 Inertial Sensor Models.
9.4 System Implementation Models.
9.5 System-Level Error Models.

10 GNSS/INS Integration.

10.1 Background.
10.2 Effects of Host Vehicle Dynamics.
10.3 Loosely Coupled Integration.
10.4 Tightly Coupled Integration.
10.5 Future Developments.

Appendix A：Software.

A.1 Software Sources.
A.2 Software for Chapter 3.
A.3 Software for Chapter 5.
A.4 Software for Chapter 8.
A.5 Software for Chapter 9.
A.6 Software for Chapter 10.

Appendix B：Vectors and Matrices.

B.1 Scalars.
B.2 Vectors.
B.3 Matrices.
B.4 Matrix Operations.
B.5 Block Matrix Formulas.
B.6 Functions of Square Matrices.
B.7 Norms.
B.8 Factorizations and Decompositions.
8.9 Quadratic Forms.
B.10 Derivatives of Matrices.

Appendix C：Coordinate Transformations.

C.1 Notation.
C.2 Inertial Reference Directions.
C.3 Coordinate Systems.
C.4 Coordinate Transformation Models.

References.

Index.

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