Inertial Navigation Systems with Geodetic Applications
Inertial Navigation Systems with Geodetic Applications

Author: Christopher Jekeli

Publisher: Walter de Gruyter GmbH & Co KG

Published: 2023-07-24

Total Pages: 467

ISBN-13: 3110784394

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This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.

Inertial Navigation Systems with Geodetic Applications
Inertial Navigation Systems with Geodetic Applications

Author: Christopher Jekeli

Publisher: Walter de Gruyter GmbH & Co KG

Published: 2023-07-24

Total Pages: 424

ISBN-13: 3110784327

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This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.

Geodetic Applications of Inertial Navigation Systems
Geodetic Applications of Inertial Navigation Systems

Author: Edward F. Roof

Publisher:

Published: 1977

Total Pages: 31

ISBN-13:

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The most dominate error source in position determinations are in poor calibration procedures, misalignment of the accelerometers about their axes (platform drift and deflections of the vertical) and unnecessary shocks and vibrations to the system. An analysis of data in the gravity tables show that the system is capable of measuring delta g with an RMS of slightly better than 2 micro gs and that these measurements could be improved with a decrease of heading sensitivity by the system. An analysis of the data in the tables for the deflections of the vertical show that the data is highly influenced by the change in gyro drift rates as a result of heading changes of the system. When the system operates along a fairly straight line (small azimuth changes) deflections of the vertical can be determined with a RMS of one and one half seconds or better. It is believed that the following changes would improve the operations of the IPS/RGSS: (1) Better isolation of the system from shock and vibration, (2) Redesign the calibration procedure for the system, (3) Attempt to compensate for the effects of heading sensitivity, (4) Allow input into the system for the change in Azimuth caused by deflection of the vertical at the initial station, and (5) Change the smoothing program after the first four items are accomplished.

High Precision Navigation
High Precision Navigation

Author: Klaus Linkwitz

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 637

ISBN-13: 3642745857

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The book is based on an international workshop on High Precision Navigation. The reader will find a wealth of information on - satellite navigation systems and their geodetic applications, especially using GPS - laser and radar techniques - image processing and image sequence analysis - autonomous vehicle guidance systems - inertial navigation systems - integration of different sensor systems.

Geodetic Applications of Inertial Navigational Systems
Geodetic Applications of Inertial Navigational Systems

Author: Erik W. Grafarend

Publisher:

Published: 1979

Total Pages: 244

ISBN-13:

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A gradiometer-aided inertial navigation system is theoretically and statistically analysed to estimate its abilities to monitore geocentric cartesian coordinates. Having discussed the inertial instrumental units used on the moving platform and several reference coordinate frames applicable in all navigation systems, studies on the severe problem of the separability of the gravity gradients from the inertial disturbances are carried out. Simulation I presents how well the aided navigation system can produce inertial coordinates and how the newcomers of the inertial instrumentation, the gradiometers, perform on-board the moving vehicle. Quantization error studies are also analysed and presented for such a system. Simulation II includes besides the detailed analysis of the accelerometer and gradiometer error models used, the abilities of the system to estimate geocentric coordinates. Multipoint statistical analysis for the approximated inertial acceleration components shows that the navigation system under consideration behaves better as closer the reality is approached. (Author).

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition

Author: Paul D. Groves

Publisher: Artech House

Published: 2013-04-01

Total Pages: 800

ISBN-13: 1608070050

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This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies .. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.

Global Navigation Satellite Systems, Inertial Navigation, and Integration
Global Navigation Satellite Systems, Inertial Navigation, and Integration

Author: Mohinder S. Grewal

Publisher: John Wiley & Sons

Published: 2015-03-11

Total Pages: 441

ISBN-13: 1118523539

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An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS (tightly and loosely coupled), modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. The Third Edition includes: Updates on the upgrades in existing GNSS and other systems currently under development Expanded coverage of basic principles of antenna design and practical antenna design solutions Expanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Expanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementation Derivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parameters Greatly expanded coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB® implementations, and performance evaluation under simulated dynamic conditions The companion website includes updated background material; additional MATLAB scripts for simulating GNSS-only and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.

Strapdown Inertial Navigation Technology
Strapdown Inertial Navigation Technology

Author: David Titterton

Publisher: IET

Published: 2004

Total Pages: 578

ISBN-13: 0863413587

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Inertial navigation is widely used for the guidance of aircraft, missiles ships and land vehicles, as well as in a number of novel applications such as surveying underground pipelines in drilling operations. This book discusses the physical principles of inertial navigation, the associated growth of errors and their compensation. It draws current technological developments, provides an indication of potential future trends and covers a broad range of applications. New chapters on MEMS (microelectromechanical systems) technology and inertial system applications are included.

Global Positioning Systems, Inertial Navigation, and Integration
Global Positioning Systems, Inertial Navigation, and Integration

Author: Mohinder S. Grewal

Publisher: John Wiley & Sons

Published: 2007-03-05

Total Pages: 416

ISBN-13: 0470099712

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An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. 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 using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.