Читать книгу Position, Navigation, and Timing Technologies in the 21st Century - Группа авторов - Страница 2

1  Cover

2  Title Page

3  Copyright Page

4  Dedication Page

5  Preface

6  Contributors

7  Part D: Position, Navigation, and Timing Using Radio Signals-of-Opportunity 35 Overview of Volume 2: Integrated PNT Technologies and Applications 35.1 Generalized Navigation Framework 35.2 Summary of Content of Volume 2 36 Nonlinear Recursive Estimation for Integrated Navigation Systems 36.1 Introduction 36.2 Linear Estimation Foundations 36.3 Nonlinear Filtering Concepts 36.4 Summary and Conclusions References 37 Overview of Indoor Navigation Techniques 37.1 Introduction 37.2 Overview of Technical Terms 37.3 Performance Metrics 37.4 Indoor Localization Signal Classification 37.5 Indoor Localization Techniques 37.6 Open Research Issues References 38 Navigation with Cellular Signals of Opportunity 38.1 Introduction 38.2 Overview of Cellular Systems 38.3 Clock Error Dynamics Modeling 38.4 Navigation Frameworks in Cellular Environments 38.5 Navigation with Cellular CDMA Signals 38.6 Navigation with Cellular LTE Signals 38.7 BTS Sector Clock Bias Mismatch 38.8 Multi‐Signal Navigation: GNSS and Cellular 38.9 Cellular‐Aided INS References 39 Position, Navigation and Timing with Dedicated Metropolitan Beacon Systems 39.1 Metropolitan Beacon System (MBS) References 40 Navigation with Terrestrial Digital Broadcasting Signals 40.1 PNT Mechanisms with Broadcasting Signals 40.2 Representative Terrestrial Digital Broadcasting Signals 40.3 Pseudorange Measurements from Broadcasting Signals 40.4 Practical Issues and Search for Solutions References 41 Navigation with Low‐Frequency Radio Signals 41.1 Introduction 41.2 A Brief History of Very Low‐Frequency (VLF) and LF PNT 41.3 Loran‐C and eLoran Signal in Space Definition 41.4 Enhanced Loran (eLoran) Transmission 41.5 LF Propagation 41.6 Noise and Interference 41.7 Receiver Design 41.8 Loran Performance: Past, Present, and Future 41.9 Potential of Future LF Radio Navigation Systems References 42 Adaptive Radar Navigation 42.1 A History of Radar Localization 42.2 Modern Radar Localization 42.3 Radar Signal Processing 42.4 SAR Processing Methods 42.5 UWB‐OFDM Case Study 42.6 Conclusion References 43 Navigation from Low Earth Orbit 43.1 Introduction 43.2 Background 43.3 LEOs in Navigation Today 43.4 LEOs in Navigation Tomorrow 43.5 Conclusion References 43 Navigation from Low‐Earth Orbit 43.6 Introduction 43.7 LEO Satellite Pseudorange, Carrier Phase, and Doppler Measurement Model 43.8 LEO Satellite Orbital Dynamics Model 43.9 Navigation Error Sources 43.10 Overview of Orbcomm LEO Satellite Constellation 43.11 Overview of Starlink LEO Satellite Constellation 43.12 Carrier‐Phase Differential Navigation with LEO Satellite Signals 43.13 STAN: Simultaneous Tracking and Navigation with LEO Satellites’ Signals 43.14 Dilution of Precision Analysis 43.15 Simulation Results 43.16 Experimental Results References

8  Part E: Position, Navigation, and Timing Using Non-Radio signals of Opportunity 44 Inertial Navigation Sensors 44.1 Introduction 44.2 Inertial Navigation Performance 44.3 IMU Performance Classes 44.4 Accelerometer Taxonomy 44.5 Gyroscopes 44.6 Conclusion References 45 MEMS Inertial Sensors 45.1 Introduction to Micro‐Electromechanical Systems (MEMS) Inertial Sensors 45.2 MEMS Accelerometers 45.3 MEMS Gyroscopes 45.4 MEMS IMUs 45.5 Using MEMS Inertial Sensors in Navigation Solutions References 46 GNSS‐INS Integration 46.1 Main Principles of Inertial Navigation 46.2 Inertial Error Propagation 46.3 Loose Integration: Solution‐Domain Sensor Fusion 46.4 Tight Integration: Measurement‐Domain Sensor Fusion 46.5 Deep Integration: Sensor Fusion at the Signal Processing Level 46.6 Implementation Case Studies References 46 GNSS‐INS Integration A. Appendix References 47 Atomic Clocks for GNSS 47.1 Introduction 47.2 Basic Concepts 47.3 GNSS Space Clocks 47.4 Advanced Atomic Clocks for Future Use in Space 47.5 Einstein’s Relativity for Clocks near Earth – Brief Summary 47.6 Atomic Clocks on Earth Supporting GNSS 47.7 National Standards Laboratories 47.8 AFRs for GNSS Receivers 47.9 Chip Scale Atomic Clocks (CSACs) Acknowledgments References 48 Positioning Using Magnetic Fields 48.1 Introduction 48.2 Magnetic Field Sources 48.3 Magnetic Measurements and Instruments 48.4 Magnetometer Calibration Approaches 48.5 Absolute Positioning Using Magnetic Fields Disclaimer References 49 Laser‐Based Navigation 49.1 Introduction 49.2 Laser‐Based Sensor Technology and Their Observables 49.3 Laser‐Based Navigation Approaches 49.4 General Considerations References 50 Image‐Aided Navigation – Concepts and Applications 50.1 Introduction 50.2 Imaging System Model 50.3 Selection of Interest Areas 50.4 Correspondence Search 50.5 Pose Estimation 50.6 Monocular Image Navigation Issues 50.7 Application of Additional Information to the Image‐Aided Navigation Solution 50.8 Non‐Homogeneous Sensor Fusion 50.9 Conclusion References 51 Digital Photogrammetry 51.1 Introduction 51.2 Optical Imagery 51.3 Basic Definitions 51.4 Fundamentals of Photogrammetry 51.5 Photogrammetric Processing Workflow 51.6 Applications 51.7 Conclusion References 52 Navigation Using Pulsars and Other Variable Celestial Sources 52.1 Navigation Concepts and Benefits 52.2 Variable Celestial Sources 52.3 Applications for Spacecraft and Planetary Vehicles 52.4 Current Technology Limitations and Future Developments Acknowledgments References 53 Neuroscience of Navigation 53.1 Introduction 53.2 Spatial Foundations 53.3 Specialized Spatial Cells 53.4 Neural Systems and Navigation 53.5 Future Directions 53.6 Conclusion References 54 Orientation and Navigation in the Animal World 54.1 What Information Do Animals Use to Orientate and Navigate? 54.2 Star Compass 54.3 Radical‐Pair‐Based Magnetoreceptor 54.4 Conclusions and Perspectives References

9  Part F: Position, Navigation, and Timing for Consumer and Commercial Applications 55 GNSS Applications in Surveying and Mobile Mapping 55.1 Introduction 55.2 Surveying and Mobile Mapping Sector’s Positioning Requirements 55.3 GNSS Applications in Land and Marine Surveying 55.4 GNSS for Mobile Mapping 55.5 Emerging Developments in GNSS Systems and Mapping Industry References 56 Precision Agriculture 56.1 Precision Agriculture 56.2 GNSS Requirements for Agriculture 56.3 Conclusion 57 Wearables 57.1 Introduction 57.2 Origins of Wearables 57.3 The World of Wearables 57.4 Wearable Device Architecture 57.5 Sensors and Measurement 57.6 Power Management/Battery Monitoring 57.7 Screens 57.8 Video and Audio 57.9 Wireless Technology 57.10 Privacy and Security 57.11 The Future 57.12 Summary 58 Navigation in Advanced Driver Assistance Systems and Automated Driving 58.1 Introduction 58.2 Useful GNSS Measurements for Vehicle Automation 58.3 Vehicle Modeling 58.4 Applications References 59 Train Control and Rail Traffic Management Systems 59.1 The Role of GNSS in Modern Train Control Systems 59.2 Track‐Constrained PNT 59.3 GNSS and Odometer Fusion 59.4 Track‐Constrained Relative PVT Estimate 59.5 Multiple‐Track Discrimination 59.6 Track Detector Performance References 60 Commercial Unmanned Aircraft Systems (UAS) 60.1 UAS Context 60.2 Flight Guidance and Autonomy 60.3 Obstacle Avoidance: Environment 60.4 Obstacle Avoidance: Other Aerial Vehicles 60.5 Role of Navigation References 61 Navigation for Aviation 61.1 Introduction and Overview 61.2 Navigation for Aviation: Past and Present 61.3 Aviation Navigation for the 21st Century 61.4 Satellite Navigation 61.5 Terrestrial Radio Navigation Sources 61.6 Surveillance‐Based Navigation 61.7 Signals of Opportunity 61.8 Naturally Occurring Aviation Signal 61.9 Vision 61.10 Conclusions References 62 Orbit Determination with GNSS 62.1 Introduction 62.2 Formulation of the Orbit Determination Problem 62.3 The First Step in Solving the POD Problem: Linearization 62.4 Types of Orbit Determination Approaches: Kinematic, Dynamics, and “In Between,” Also Known as Reduced Dynamics 62.5 The Critical Role of the Reference GNSS Orbit and Clock States 62.6 POD Solution Validation 62.7 LEOs, MEOs, and HEOs 62.8 Formation Flying and Relative Positioning 62.9 Elements of the Art 62.10 Timing 62.11 Orbit Determination for Earth Science 62.12 Synergy with Other Data Types 62.13 Onboard Orbit Determination 62.14 Case Study: Jason‐3 Mission 63.3.4 Acknowledgments References 63 Satellite Formation Flying and Rendezvous 63.1 Introduction to Relative Navigation 63.2 Relative Orbit Determination 63.3 Mission Results 63.4 Conclusions References 64 Navigation in the Arctic 64.1 Introduction 64.2 Ice Navigation 64.3 21st Century Ice Navigation 64.4 GNSS Integrity in the Arctic 64.5 Conclusions References

10  Glossary, Definitions, and Notation Conventions Glossary

11  Index

12  End User License Agreement