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Global Navigation Satellite Systems, Inertial Navigation, and Integration
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MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineering in the College of Engineering and Computer Science at California State University, Fullerton.
ANGUS P. ANDREWS, PhD, was senior scientist (now retired) at the Rockwell Science Center in Thousand Oaks, California.
CHRIS G. BARTONE, PhD, PE, is Professor of Electrical Engineering in the Russ College of Engineering and Technology, School of Electrical Engineering and Computer Science at Ohio University, Athens, Ohio.
ANGUS P. ANDREWS, PhD, was senior scientist (now retired) at the Rockwell Science Center in Thousand Oaks, California.
CHRIS G. BARTONE, PhD, PE, is Professor of Electrical Engineering in the Russ College of Engineering and Technology, School of Electrical Engineering and Computer Science at Ohio University, Athens, Ohio.
The Global Positioning System (GPS) may be used in conjunction with Inertial Navigation Systems (INS) for tracking and navigation and may be applied in the civilian and military sectors to track devices, to locate people and objects, in the air, on the ground, or at sea.
Preface xxvii
Acknowledgments xxxi
Acronyms and Abbreviations xxxiii
1 Introduction, 1
1.1 Navigation, 1
1.2 GNSS Overview, 4
System (GLONASS), 6
1.3 Inertial Navigation Overview, 10
(MWGs), 14
of Inertial Navigation", 19
1.4 GNSS/INS Integration Overview, 30
Problems, 32
References, 32
2 Fundamentals of Satellite Navigation Systems, 35
2.1 Navigation Systems Considered, 35
2.2 Satellite Navigation, 36
on Land, 36
Dilution of Precision (DOP), 41
2.3 Time and GPS, 46
2.4 Example: User Position Calculations with No Errors, 48
Problems, 51
References, 53
3 Fundamentals of Inertial Navigation, 54
3.1 Chapter Focus, 54
3.2 Basic Terminology, 55
3.3 Inertial Sensor Error Models, 59
3.4 Sensor Calibration and Compensation, 63
Measurable Conditions, 65
between Turn-Ons, 67
3.5 Earth Models, 68
3.6 Hardware Implementations, 77
3.7 Software Implementations, 83
3.8 INS Performance Standards, 101
3.9 Testing and Evaluation, 102
3.10 Summary, 103
Problems, 104
References, 106
4 GNSS Signal Structure, Characteristics, and Information Utilization, 108
4.1 Legacy GPS Signal Components, Purposes, and Properties, 109
4.2 Modernization of GPS, 132
4.3 GLONASS Signal Structure and Characteristics, 141
Signals, 142
4.4 Galileo, 144
4.5 Compass/BD, 146
4.6 QZSS, 146
Problems, 148
References, 150
5 GNSS Antenna Design and Analysis, 1525.1 Applications, 152
5.2 GNSS Antenna Performance Characteristics, 152
5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design, 164
5.4 GNSS Antenna Technologies, 166
5.5 Principles of Adaptable Phased-Array Antennas, 180
5.6 Application Calibration/Compensation Considerations, 187
Problems, 189
References, 190
6 GNSS Receiver Design and Analysis, 193
6.1 Receiver Design Choices, 193
6.2 Receiver Architecture, 199
Automatic Gain Control, 203
6.3 Signal Acquisition and Tracking, 204
Visible, 205
6.4 Extraction of Information for User Solution, 223
and Velocity, 224
6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and
Frequency Estimations, 231
6.6 High-Sensitivity A-GPS Systems, 235
6.7 Software-Defi ned Radio (SDR) Approach, 242
6.8 Pseudolite Considerations, 243
Problems, 244
References, 246
7 GNSS Data Errors, 250
7.1 Data Errors, 250
7.2 Ionospheric Propagation Errors, 251
7.3 Tropospheric Propagation Errors, 263
7.4 The Multipath Problem, 264
7.5 Methods of Multipath Mitigation, 266
7.6 Theoretical Limits for Multipath Mitigation, 283
7.7 Ephemeris Data Errors, 285
7.8 Onboard Clock Errors, 285
7.9 Receiver Clock Errors, 286
7.10 SA Errors, 288
7.11 Error Budgets, 288
Problems, 289
References, 291
8 Differential GNSS, 293
8.1 Introduction, 293
8.2 Descriptions of Local-Area Differential GNSS (LADGNSS), Wide-Area Differential GNSS (WADGNSS), and Space-Based Augmentation System (SBAS), 294
8.3 GEO with L1L5 Signals, 299
8.4 GUS Clock Steering Algorithm, 307
8.5 GEO Orbit Determination (OD), 310
8.6 Ground-Based Augmentation System (GBAS), 316
System (JPALS), 317
8.7 Measurement/Relative-Based DGNSS, 319
Postprocessing, 323
8.8 GNSS Precise Point Positioning Services and Products, 323
Problems, 325
References, 326
9 GNSS and GEO Signal Integrity, 328
9.1 Introduction, 328
9.2 SBAS and GBAS Integrity Design, 332
Estimation Error, 339
Problems, 325
References, 326
9 GNSS and GEO Signal Integrity, 328
9.1 Introduction, 328
9.2 SBAS and GBAS Integrity Design, 332
Estimation Error, 339
9.3 SBAS Example, 346
9.4 Summary, 347
9.5 Future: GIC, 348
Problem, 348
References, 348
10 Kalman Filtering, 350
10.1 Introduction, 350
10.2 Kalman Filter Correction Update, 354
10.3 Kalman Filter Prediction Update, 365
Coeffi cient Matrices, 369
10.4 Summary of Kalm
Acknowledgments xxxi
Acronyms and Abbreviations xxxiii
1 Introduction, 1
1.1 Navigation, 1
1.2 GNSS Overview, 4
System (GLONASS), 6
1.3 Inertial Navigation Overview, 10
(MWGs), 14
of Inertial Navigation", 19
1.4 GNSS/INS Integration Overview, 30
Problems, 32
References, 32
2 Fundamentals of Satellite Navigation Systems, 35
2.1 Navigation Systems Considered, 35
2.2 Satellite Navigation, 36
on Land, 36
Dilution of Precision (DOP), 41
2.3 Time and GPS, 46
2.4 Example: User Position Calculations with No Errors, 48
Problems, 51
References, 53
3 Fundamentals of Inertial Navigation, 54
3.1 Chapter Focus, 54
3.2 Basic Terminology, 55
3.3 Inertial Sensor Error Models, 59
3.4 Sensor Calibration and Compensation, 63
Measurable Conditions, 65
between Turn-Ons, 67
3.5 Earth Models, 68
3.6 Hardware Implementations, 77
3.7 Software Implementations, 83
3.8 INS Performance Standards, 101
3.9 Testing and Evaluation, 102
3.10 Summary, 103
Problems, 104
References, 106
4 GNSS Signal Structure, Characteristics, and Information Utilization, 108
4.1 Legacy GPS Signal Components, Purposes, and Properties, 109
4.2 Modernization of GPS, 132
4.3 GLONASS Signal Structure and Characteristics, 141
Signals, 142
4.4 Galileo, 144
4.5 Compass/BD, 146
4.6 QZSS, 146
Problems, 148
References, 150
5 GNSS Antenna Design and Analysis, 1525.1 Applications, 152
5.2 GNSS Antenna Performance Characteristics, 152
5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design, 164
5.4 GNSS Antenna Technologies, 166
5.5 Principles of Adaptable Phased-Array Antennas, 180
5.6 Application Calibration/Compensation Considerations, 187
Problems, 189
References, 190
6 GNSS Receiver Design and Analysis, 193
6.1 Receiver Design Choices, 193
6.2 Receiver Architecture, 199
Automatic Gain Control, 203
6.3 Signal Acquisition and Tracking, 204
Visible, 205
6.4 Extraction of Information for User Solution, 223
and Velocity, 224
6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and
Frequency Estimations, 231
6.6 High-Sensitivity A-GPS Systems, 235
6.7 Software-Defi ned Radio (SDR) Approach, 242
6.8 Pseudolite Considerations, 243
Problems, 244
References, 246
7 GNSS Data Errors, 250
7.1 Data Errors, 250
7.2 Ionospheric Propagation Errors, 251
7.3 Tropospheric Propagation Errors, 263
7.4 The Multipath Problem, 264
7.5 Methods of Multipath Mitigation, 266
7.6 Theoretical Limits for Multipath Mitigation, 283
7.7 Ephemeris Data Errors, 285
7.8 Onboard Clock Errors, 285
7.9 Receiver Clock Errors, 286
7.10 SA Errors, 288
7.11 Error Budgets, 288
Problems, 289
References, 291
8 Differential GNSS, 293
8.1 Introduction, 293
8.2 Descriptions of Local-Area Differential GNSS (LADGNSS), Wide-Area Differential GNSS (WADGNSS), and Space-Based Augmentation System (SBAS), 294
8.3 GEO with L1L5 Signals, 299
8.4 GUS Clock Steering Algorithm, 307
8.5 GEO Orbit Determination (OD), 310
8.6 Ground-Based Augmentation System (GBAS), 316
System (JPALS), 317
8.7 Measurement/Relative-Based DGNSS, 319
Postprocessing, 323
8.8 GNSS Precise Point Positioning Services and Products, 323
Problems, 325
References, 326
9 GNSS and GEO Signal Integrity, 328
9.1 Introduction, 328
9.2 SBAS and GBAS Integrity Design, 332
Estimation Error, 339
Problems, 325
References, 326
9 GNSS and GEO Signal Integrity, 328
9.1 Introduction, 328
9.2 SBAS and GBAS Integrity Design, 332
Estimation Error, 339
9.3 SBAS Example, 346
9.4 Summary, 347
9.5 Future: GIC, 348
Problem, 348
References, 348
10 Kalman Filtering, 350
10.1 Introduction, 350
10.2 Kalman Filter Correction Update, 354
10.3 Kalman Filter Prediction Update, 365
Coeffi cient Matrices, 369
10.4 Summary of Kalm
The Global Positioning System (GPS) may be used in conjunction with Inertial Navigation Systems (INS) for tracking and navigation and may be applied in the civilian and military sectors to track devices, to locate people and objects, in the air, on the ground, or at sea. The book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. With a focus on providing readers with solutions to real-world problems, the book offers numerous detailed examples and practice problems, as well as software that demonstrates Kalman filter algorithms with GNSS and INS data sets. The book is accompanied by a Solutions Manual for instructors.