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Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you 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. 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 co-ordinate frame, multi-frame kinematics, Earth models, gravity, and the Kalman filter.
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 the new GNSS signals, GNSS operation in challenging environments, deep integration, enhanced Loran, urban and indoor positioning, and pedestrian dead reckoning.
CONTENTS:
Pt. I Introduction 1
Ch. 1Introduction3
Pt. IINavigation Mathematics15
Ch. 2Coordinate Frames, Kinematics, and the Earth17
Ch. 3The Kalman Filter55
Pt. IIINavigation Systems95
Ch. 4Inertial Sensors97
Ch. 5Inertial Navigation121
Ch. 6Satellite Navigation Systems161
Ch. 7Satellite Navigation Processing, Errors, and Geometry195
Ch. 8Advanced Satellite Navigation279
Ch. 9Terrestrial Radio Navigation303
Ch. 10Dead Reckoning, Attitude, and Height Measurement321
Ch. 11Feature Matching345
Pt. IVIntegrated Navigation361
Ch. 12INS/GNSS Integration363
Ch. 13INS Alignment and Zero Velocity Updates407
Ch. 14Multisensor Integrated Navigation419
Ch. 15Fault Detection and Integrity Monitoring451
App. AVectors and Matrices471
App. BStatistical Measures479
Index507
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