Beschreibung:
This comprehensive book provides a solid understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, feature matching, and integrated navigation. It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration.
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems -- Contents v -- Preface -- PART I Introduction 1 -- Chapter 1 Introduction 3 -- 1.1 What Is Navigation? -- 1.2 Inertial Navigation -- 1.3 Radio and Satellite Navigation -- 1.4 Feature Matching -- 1.5 The Complete Navigation System -- References -- PART II Navigation Mathematics -- Chapter 2 Coordinate Frames, Kinematics, and the Earth 17 -- 2.1 Coordinate Frames -- 2.2 Kinematics -- 2.3 Earth Surface and Gravity Models -- 2.4 Frame Transformations -- References -- Selected Bibliography -- Endnotes -- Chapter 3 The Kalman Filter 55 -- 3.1 Introduction -- 3.2 Algorithms and Models -- 3.3 Implementation Issues -- 3.4 Extensions to the Kalman Filter -- References -- Selected Bibliography -- Endnotes -- Part III Navigation Systems -- Chapter 4 Inertial Sensors 97 -- 4.1 Accelerometers -- 4.2 Gyroscopes -- 4.3 Inertial Measurement Units -- 4.4 Error Characteristics -- References -- Chapter 5 Inertial Navigation 121 -- 5.1 Inertial-Frame Navigation Equations -- 5.2 Earth-Frame Navigation Equations -- 5.3 Local-Navigation-Frame Navigation Equations -- 5.4 Navigation Equations Precision -- 5.5 Initialization and Alignment -- 5.6 INS Error Propagation -- 5.7 Platform INS -- 5.8 Horizontal-Plane Inertial Navigation -- References -- Selected Bibliography -- Endnotes -- Chapter 6 Satellite Navigation Systems 161 -- 6.1 Fundamentals of Satellite Navigation -- 6.2 Global Positioning System -- 6.3 GLONASS -- 6.4 Galileo -- 6.5 Regional Navigation Systems -- 6.6 GNSS Interoperability -- References -- Selected Bibliography -- Chapter 7 Satellite Navigation Processing, Errors, and Geometry 195 -- 7.1 Satellite Navigation Geometry -- 7.2 Receiver Hardware and Antenna -- 7.3 Ranging Processor -- 7.4 Range Error Sources -- 7.5 Navigation Processor -- References -- Selected Bibliography.