Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves.

• Superior document: GNSS technology and application series
• VerfasserIn: Groves, Paul D.
• Place / Publishing House: Boston : : Artech House,, [2013]; 2013
• Year of Publication: 2013
• Edition: Second edition.
• Language: English
• Series: GNSS technology and applications series.
• Physical Description: 1 online resource (800 pages) :; illustrations.

Table of Contents

• Machine generated contents note: ch. 1 Introduction
• 1.1.Fundamental Concepts
• 1.2.Dead Reckoning
• 1.3.Position Fixing
• 1.3.1.Position-Fixing Methods
• 1.3.2.Signal-Based Positioning
• 1.3.3.Environmental Feature Matching
• 1.4.The Navigation System
• 1.4.1.Requirements
• 1.4.2.Context
• 1.4.3.Integration
• 1.4.4.Aiding
• 1.4.5.Assistance and Cooperation
• 1.4.6.Fault Detection
• 1.5.Overview of the Book
• References
• ch. 2 Coordinate Frames, Kinematics, and the Earth
• 2.1.Coordinate Frames
• 2.1.1.Earth-Centered Inertial Frame
• 2.1.2.Earth-Centered Earth-Fixed Frame
• 2.1.3.Local Navigation Frame
• 2.1.4.Local Tangent-Plane Frame
• 2.1.5.Body Frame
• 2.1.6.Other Frames
• 2.2.Attitude, Rotation, and Resolving Axes Transformations
• 2.2.1.Euler Attitude
• 2.2.2.Coordinate Transformation Matrix
• 2.2.3.Quaternion Attitude
• 2.2.4.Rotation Vector
• 2.3.Kinematics
• 2.3.1.Angular Rate
• 2.3.2.Cartesian Position
• 2.3.3.Velocity
• 2.3.4.Acceleration
• 2.3.5.Motion with Respect to a Rotating Reference Frame
• 2.4.Earth Surface and Gravity Models
• 2.4.1.The Ellipsoid Model of the Earth's Surface
• 2.4.2.Curvilinear Position
• 2.4.3.Position Conversion
• 2.4.4.The Geoid, Orthometric Height, and Earth Tides
• 2.4.5.Projected Coordinates
• 2.4.6.Earth Rotation
• 2.4.7.Specific Force, Gravitation, and Gravity
• 2.5.Frame Transformations
• 2.5.1.Inertial and Earth Frames
• 2.5.2.Earth and Local Navigation Frames
• 2.5.3.Inertial and Local Navigation Frames
• 2.5.4.Earth and Local Tangent-Plane Frames
• 2.5.5.Transposition of Navigation Solutions
• References
• ch. 3 Kalman Filter-Based Estimation
• 3.1.Introduction
• 3.1.1.Elements of the Kalman Filter
• 3.1.2.Steps of the Kalman Filter
• 3.1.3.Kalman Filter Applications
• 3.2.Algorithms and Models
• 3.2.1.Definitions
• 3.2.2.Kalman Filter Algorithm
• 3.2.3.System Model
• 3.2.4.Measurement Model
• 3.2.5.Kalman Filter Behavior and State Observability
• 3.2.6.Closed-Loop Kalman Filter
• 3.2.7.Sequential Measurement Update
• 3.3.Implementation Issues
• 3.3.1.Tuning and Stability
• 3.3.2.Algorithm Design
• 3.3.3.Numerical Issues
• 3.3.4.Time Synchronization
• 3.3.5.Kalman Filter Design Process
• 3.4.Extensions to the Kalman Filter
• 3.4.1.Extended and Linearized Kalman Filter
• 3.4.2.Unscented Kalman Filter
• 3.4.3.Time-Correlated Noise
• 3.4.4.Adaptive Kalman Filter
• 3.4.5.Multiple-Hypothesis Filtering
• 3.4.6.Kalman Smoothing
• 3.5.The Particle Filter
• References
• ch. 4 Inertial Sensors
• 4.1.Accelerometers
• 4.1.1.Pendulous Accelerometers
• 4.1.2.Vibrating-Beam Accelerometers
• 4.2.Gyroscopes
• 4.2.1.Optical Gyroscopes
• 4.2.2.Vibratory Gyroscopes
• 4.3.Inertial Measurement Units
• 4.4.Error Characteristics
• 4.4.1.Biases
• 4.4.2.Scale Factor and Cross-Coupling Errors
• 4.4.3.Random Noise
• 4.4.4.Further Error Sources
• 4.4.5.Vibration-Induced Errors
• 4.4.6.Error Models
• References
• ch. 5 Inertial Navigation
• 5.1.Introduction to Inertial Navigation
• 5.2.Inertial-Frame Navigation Equations
• 5.2.1.Attitude Update
• 5.2.2.Specific-Force Frame Transformation
• 5.2.3.Velocity Update
• 5.2.4.Position Update
• 5.3.Earth-Frame Navigation Equations
• 5.3.1.Attitude Update
• 5.3.2.Specific-Force Frame Transformation
• 5.3.3.Velocity Update
• 5.3.4.Position Update
• 5.4.Local-Navigation-Frame Navigation Equations
• 5.4.1.Attitude Update
• 5.4.2.Specific-Force Frame Transformation
• 5.4.3.Velocity Update
• 5.4.4.Position Update
• 5.4.5.Wander-Azimuth Implementation
• 5.5.Navigation Equations Optimization
• 5.5.1.Precision Attitude Update
• 5.5.2.Precision Specific-Force Frame Transformation
• 5.5.3.Precision Velocity and Position Updates
• 5.5.4.Effects of Sensor Sampling Interval and Vibration
• 5.5.5.Design Tradeoffs
• 5.6.Initialization and Alignment
• 5.6.1.Position and Velocity Initialization
• 5.6.2.Attitude Initialization
• 5.6.3.Fine Alignment
• 5.7.INS Error Propagation
• 5.7.1.Short-Term Straight-Line Error Propagation
• 5.7.2.Medium- and Long-Term Error Propagation
• 5.7.3.Maneuver-Dependent Errors
• 5.8.Indexed IMU
• 5.9.Partial IMU
• References
• ch. 6 Dead Reckoning, Attitude, and Height Measurement
• 6.1.Attitude Measurement
• 6.1.1.Magnetic Heading
• 6.1.2.Marine Gyrocompass
• 6.1.3.Strapdown Yaw-Axis Gyro
• 6.1.4.Heading from Trajectory
• 6.1.5.Integrated Heading Determination
• 6.1.6.Accelerometer Leveling and Tilt Sensors
• 6.1.7.Horizon Sensing
• 6.1.8.Attitude and Heading Reference System
• 6.2.Height and Depth Measurement
• 6.2.1.Barometric Altimeter
• 6.2.2.Depth Pressure Sensor
• 6.2.3.Radar Altimeter
• 6.3.Odometry
• 6.3.1.Linear Odometry
• 6.3.2.Differential Odometry
• 6.3.3.Integrated Odometry and Partial IMU
• 6.4.Pedestrian Dead Reckoning Using Step Detection
• 6.5.Doppler Radar and Sonar
• 6.6.Other Dead-Reckoning Techniques
• 6.6.1.Correlation-Based Velocity Measurement
• 6.6.2.Air Data
• 6.6.3.Ship's Speed Log
• References
• ch. 7 Principles of Radio Positioning
• 7.1.Radio Positioning Configurations and Methods
• 7.1.1.Self-Positioning and Remote Positioning
• 7.1.2.Relative Positioning
• 7.1.3.Proximity
• 7.1.4.Ranging
• 7.1.5.Angular Positioning
• 7.1.6.Pattern Matching
• 7.1.7.Doppler Positioning
• 7.2.Positioning Signals
• 7.2.1.Modulation Types
• 7.2.2.Radio Spectrum
• 7.3.User Equipment
• 7.3.1.Architecture
• 7.3.2.Signal Timing Measurement
• 7.3.3.Position Determination from Ranging
• 7.4.Propagation, Error Sources, and Positioning Accuracy
• 7.4.1.Ionosphere, Troposphere, and Surface Propagation Effects
• 7.4.2.Attenuation, Reflection, Multipath, and Diffraction
• 7.4.3.Resolution, Noise, and Tracking Errors
• 7.4.4.Transmitter Location and Timing Errors
• 7.4.5.Effect of Signal Geometry
• References
• ch. 8 GNSS: Fundamentals, Signals, and Satellites
• 8.1.Fundamentals of Satellite Navigation
• 8.1.1.GNSS Architecture
• 8.1.2.Signals and Range Measurement
• 8.1.3.Positioning
• 8.1.4.Error Sources and Performance Limitations
• 8.2.The Systems
• 8.2.1.Global Positioning System
• 8.2.2.GLONASS
• 8.2.3.Galileo
• 8.2.4.Beidou
• 8.2.5.Regional Systems
• 8.2.6.Augmentation Systems
• 8.2.7.System Compatibility
• 8.3.GNSS Signals
• 8.3.1.Signal Types
• 8.3.2.Global Positioning System
• 8.3.3.GLONASS
• 8.3.4.Galileo
• 8.3.5.Beidou
• 8.3.6.Regional Systems
• 8.3.7.Augmentation Systems
• 8.4.Navigation Data Messages
• 8.4.1.GPS
• 8.4.2.GLONASS
• 8.4.3.Galileo
• 8.4.4.SBAS
• 8.4.5.Time Base Synchronization
• 8.5.Satellite Orbits and Geometry
• 8.5.1.Satellite Orbits
• 8.5.2.Satellite Position and Velocity
• 8.5.3.Range, Range Rate, and Line of Sight
• 8.5.4.Elevation and Azimuth
• References
• ch. 9 GNSS: User Equipment Processing and Errors
• 9.1.Receiver Hardware and Antenna
• 9.1.1.Antennas
• 9.1.2.Reference Oscillator
• 9.1.3.Receiver Front End
• 9.1.4.Baseband Signal Processor
• 9.2.Ranging Processor
• 9.2.1.Acquisition
• 9.2.2.Code Tracking
• 9.2.3.Carrier Tracking
• 9.2.4.Tracking Lock Detection
• 9.2.5.Navigation-Message Demodulation
• 9.2.6.Carrier-Power-to-Noise-Density Measurement
• 9.2.7.Pseudo-Range, Pseudo-Range-Rate, and Carrier-Phase Measurements
• 9.3.Range Error Sources
• 9.3.1.Ephemeris Prediction and Satellite Clock Errors
• 9.3.2.Ionosphere and Troposphere Propagation Errors
• 9.3.3.Tracking Errors
• 9.3.4.Multipath, Nonline-of-Sight, and Diffraction
• 9.4.Navigation Processor
• 9.4.1.Single-Epoch Navigation Solution
• 9.4.2.Filtered Navigation Solution
• 9.4.3.Signal Geometry and Navigation Solution Accuracy
• 9.4.4.Position Error Budget
• References
• ch.
• 10 GNSS: Advanced Techniques
• 10.1.Differential GNSS
• 10.1.1.Spatial and Temporal Correlation of GNSS Errors
• 10.1.2.Local and Regional Area DGNSS
• 10.1.3.Wide Area DGNSS and Precise Point Positioning
• 10.1.4.Relative GNSS
• 10.2.Real-Time Kinematic Carrier-Phase Positioning and Attitude Determination
• 10.2.1.Principles of Accumulated Delta Range Positioning
• 10.2.2.Single-Epoch Navigation Solution Using Double-Differenced ADR
• 10.2.3.Geometry-Based Integer Ambiguity Resolution
• 10.2.4.Multifrequency Integer Ambiguity Resolution
• 10.2.5.GNSS Attitude Determination
• 10.3.Interference Rejection and Weak Signal Processing
• 10.3.1.Sources of Interference, Jamming, and Attenuation
• 10.3.2.Antenna Systems
• 10.3.3.Receiver Front-End Filtering
• 10.3.4.Extended Range Tracking
• 10.3.5.Receiver Sensitivity
• 10.3.6.Combined Acquisition and Tracking
• 10.3.7.Vector Tracking
• 10.4.Mitigation of Multipath Interference and Nonline-of-Sight Reception
• 10.4.1.Antenna-Based Techniques
• 10.4.2.Receiver-Based Techniques
• 10.4.3.Navigation-Processor-Based Techniques
• 10.5.Aiding, Assistance, and Orbit Prediction
• 10.5.1.Acquisition and Velocity Aiding
• 10.5.2.Assisted GNSS
• 10.5.3.Orbit Prediction
• 10.6.Shadow Matching
• References
• ch. 11 Long- and Medium-Range Radio Navigation
• 11.1.Aircraft Navigation Systems
• 11.1.1.Distance Measuring Equipment
• 11.1.2.Range-Bearing Systems
• 11.1.3.Nondirectional Beacons
• 11.1.4.JTIDS/MIDS Relative Navigation
• 11.1.5.Future Air Navigation Systems
• 11.2.Enhanced Loran
• 11.2.1.Signals
• 11.2.2.User Equipment and Positioning
• 11.2.3.Error Sources
• 11.2.4.Differential Loran
• 11.3.Phone Positioning
• 11.3.1.Proximity and Pattern Matching
• 11.3.2.Ranging
• 11.4.Other Systems
• 11.4.1.Iridium Positioning
• 11.4.2.Marine Radio Beacons
• 11.4.3.AM Radio Broadcasts
• 11.4.4.FM Radio Broadcasts
• 11.4.5.Digital Television and Radio
• 11.4.6.Generic Radio Positioning
• References
• ch. 12 Short-Range Positioning
• 12.1.Pseudolites
• 12.1.1.In-Band Pseudolites
• 12.1.2.Locata and Terralite XPS
• 12.1.3.Indoor Messaging System
• 12.2.Ultrawideband
• 12.2.1.Modulation Schemes
• 12.2.2.Signal Timing
• 12.2.3.Positioning
• Note continued: 12.3.Short-Range Communications Systems
• 12.3.1.Wireless Local Area Networks (Wi-Fi)
• 12.3.2.Wireless Personal Area Networks
• 12.3.3.Radio Frequency Identification
• 12.3.4.Bluetooth Low Energy
• 12.3.5.Dedicated Short-Range Communication
• 12.4.Underwater Acoustic Positioning
• 12.5.Other Positioning Technologies
• 12.5.1.Radio
• 12.5.2.Ultrasound
• 12.5.3.Infrared
• 12.5.4.Optical
• 12.5.5.Magnetic
• References
• ch. 13 Environmental Feature Matching
• 13.1.Map Matching
• 13.1.1.Digital Road Maps
• 13.1.2.Road Link Identification
• 13.1.3.Road Positioning
• 13.1.4.Rail Map Matching
• 13.1.5.Pedestrian Map Matching
• 13.2.Terrain-Referenced Navigation
• 13.2.1.Sequential Processing
• 13.2.2.Batch Processing
• 13.2.3.Performance
• 13.2.4.Laser TRN
• 13.2.5.Sonar TRN
• 13.2.6.Barometric TRN
• 13.2.7.Terrain Database Height Aiding
• 13.3.Image-Based Navigation
• 13.3.1.Imaging Sensors
• 13.3.2.Image Feature Comparison
• 13.3.3.Position Fixing Using Individual Features
• 13.3.4.Position Fixing by Whole-Image Matching
• 13.3.5.Visual Odometry
• 13.3.6.Feature Tracking
• 13.3.7.Stellar Navigation
• 13.4.Other Feature-Matching Techniques
• 13.4.1.Gravity Gradiometry
• 13.4.2.Magnetic Field Variation
• 13.4.3.Celestial X-Ray Sources
• References
• ch. 14 INS/GNSS Integration
• 14.1.Integration Architectures
• 14.1.1.Correction of the Inertial Navigation Solution
• 14.1.2.Loosely Coupled Integration
• 14.1.3.Tightly Coupled Integration
• 14.1.4.GNSS Aiding
• 14.1.5.Deeply Coupled Integration
• 14.2.System Model and State Selection
• 14.2.1.State Selection and Observability
• 14.2.2.INS State Propagation in an Inertial Frame
• 14.2.3.INS State Propagation in an Earth Frame
• 14.2.4.INS State Propagation Resolved in a Local Navigation Frame
• 14.2.5.Additional IMU Error States
• 14.2.6.INS System Noise
• 14.2.7.GNSS State Propagation and System Noise
• 14.2.8.State Initialization
• 14.3.Measurement Models
• 14.3.1.Loosely Coupled Integration
• 14.3.2.Tightly Coupled Integration
• 14.3.3.Deeply Coupled Integration
• 14.3.4.Estimation of Attitude and Instrument Errors
• 14.4.Advanced INS/GNSS Integration
• 14.4.1.Differential GNSS
• 14.4.2.Carrier-Phase Positioning
• 14.4.3.GNSS Attitude
• 14.4.4.Large Heading Errors
• 14.4.5.Advanced IMU Error Modeling
• 14.4.6.Smoothing
• References
• ch. 15 INS Alignment, Zero Updates, and Motion Constraints
• 15.1.Transfer Alignment
• 15.1.1.Conventional Measurement Matching
• 15.1.2.Rapid Transfer Alignment
• 15.1.3.Reference Navigation System
• 15.2.Quasi-Stationary Alignment
• 15.2.1.Coarse Alignment
• 15.2.2.Fine Alignment
• 15.3.Zero Updates
• 15.3.1.Stationary-Condition Detection
• 15.3.2.Zero Velocity Update
• 15.3.3.Zero Angular Rate Update
• 15.4.Motion Constraints
• 15.4.1.Land Vehicle Constraints
• 15.4.2.Pedestrian Constraints
• 15.4.3.Ship and Boat Constraint
• References
• ch. 16 Multisensor Integrated Navigation
• 16.1.Integration Architectures
• 16.1.1.Cascaded Single-Epoch Integration
• 16.1.2.Centralized Single-Epoch Integration
• 16.1.3.Cascaded Filtered Integration
• 16.1.4.Centralized Filtered Integration
• 16.1.5.Federated Filtered Integration
• 16.1.6.Hybrid Integration Architectures
• 16.1.7.Total-State Kalman Filter Employing Prediction
• 16.1.8.Error-State Kalman Filter
• 16.1.9.Primary and Reversionary Moding
• 16.1.10.Context-Adaptive Moding
• 16.2.Dead Reckoning, Attitude, and Height Measurement
• 16.2.1.Attitude
• 16.2.2.Height and Depth
• 16.2.3.Odometry
• 16.2.4.Pedestrian Dead Reckoning Using Step Detection
• 16.2.5.Doppler Radar and Sonar
• 16.2.6.Visual Odometry and Terrain-Referenced Dead Reckoning
• 16.3.Position-Fixing Measurements
• 16.3.1.Position Measurement Integration
• 16.3.2.Ranging Measurement Integration
• 16.3.3.Angular Measurement Integration
• 16.3.4.Line Fix Integration
• 16.3.5.Handling Ambiguous Measurements
• 16.3.6.Feature Tracking and Mapping
• 16.3.7.Aiding of Position-Fixing Systems
• References
• ch. 17 Fault Detection, Integrity Monitoring, and Testing
• 17.1.Failure Modes
• 17.1.1.Inertial Navigation
• 17.1.2.Dead Reckoning, Attitude, and Height Measurement
• 17.1.3.GNSS
• 17.1.4.Terrestrial Radio Navigation
• 17.1.5.Environmental Feature Matching and Tracking
• 17.1.6.Integration Algorithm
• 17.1.7.Context
• 17.2.Range Checks
• 17.2.1.Sensor Outputs
• 17.2.2.Navigation Solution
• 17.2.3.Kalman Filter Estimates
• 17.3.Kalman Filter Measurement Innovations
• 17.3.1.Innovation Filtering
• 17.3.2.Innovation Sequence Monitoring
• 17.3.3.Remedying Biased State Estimates
• 17.4.Direct Consistency Checks
• 17.4.1.Measurement Consistency Checks and RAIM
• 17.4.2.Parallel Solutions
• 17.5.Infrastructure-Based Integrity Monitoring
• 17.6.Solution Protection and Performance Requirements
• 17.7.Testing
• 17.7.1.Field Trials
• 17.7.2.Recorded Data Testing
• 17.7.3.Laboratory Testing
• 17.7.4.Software Simulation
• References
• ch. 18 Applications and Future Trends
• 18.1.Design and Development
• 18.2.Aviation
• 18.3.Guided Weapons and Small UAVs
• 18.4.Land Vehicle Applications
• 18.5.Rail Navigation
• 18.6.Marine Navigation
• 18.7.Underwater Navigation
• 18.8.Spacecraft Navigation
• 18.9.Pedestrian Navigation
• 18.10.Other Applications
• 18.11.Future Trends
• References.