Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 2
Table of Contents
Оглавление1 Cover
2 Preface to the Fourth Edition
5 Acronyms
7 1 Introduction 1.1 Navigation 1.2 GNSS Overview 1.3 Inertial Navigation Overview 1.4 GNSS/INS Integration Overview References Notes
8 2 Fundamentals of Satellite Navigation Systems 2.1 Chapter Focus 2.2 Satellite Navigation Systems Considerations 2.3 Satellite Navigation 2.4 Time and GPS 2.5 Example: User Position Calculations with No Errors Problems References
9 3 Fundamentals of Inertial Navigation 3.1 Chapter Focus 3.2 Terminology 3.3 Inertial Sensor Technologies 3.4 Inertial Navigation Models 3.5 Initializing The Navigation Solution 3.6 Propagating The Navigation Solution 3.7 Testing and Evaluation 3.8 Summary Problems References Notes
10 4 GNSS Signal Structure, Characteristics, and Information Utilization 4.1 Legacy GPS Signal Components, Purposes, and Properties 4.2 Modernization of GPS 4.3 GLONASS Signal Structure and Characteristics 4.4 Galileo 4.5 BeiDou 4.6 QZSS 4.7 IRNSS/NAVIC References
11 5 GNSS Antenna Design and Analysis 5.1 Applications 5.2 GNSS Antenna Performance Characteristics 5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design 5.4 GNSS Antenna Technologies 5.5 Principles of Adaptable Phased‐Array Antennas 5.6 Application Calibration/Compensation Considerations References
12 6 GNSS Receiver Design and Analysis 6.1 Receiver Design Choices 6.2 Receiver Architecture 6.3 Signal Acquisition and Tracking 6.4 Extraction of Information for User Solution 6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and Frequency Estimations 6.6 High‐Sensitivity A‐GPS Systems 6.7 Software‐Defined Radio (SDR) Approach 6.8 Pseudolite Considerations Problems References
13 7 GNSS Measurement Errors 7.1 Source of GNSS Measurement Errors 7.2 Ionospheric Propagation Errors 7.3 Tropospheric Propagation Errors 7.4 The Multipath Problem 7.5 Methods of Multipath Mitigation 7.6 Theoretical Limits for Multipath Mitigation 7.7 Ephemeris Data Errors 7.8 Onboard Clock Errors 7.9 Receiver Clock Errors 7.10 Error Budgets References
14 8 Differential GNSS 8.1 Introduction 8.2 Descriptions of Local‐Area Differential GNSS (LADGNSS), Wide‐Area Differential GNSS (WADGNSS), and Space‐Based Augmentation System (SBAS) 8.3 GEO with L1L5 Signals 8.4 GUS Clock Steering Algorithm 8.5 GEO Orbit Determination (OD) 8.6 Ground‐Based Augmentation System (GBAS) 8.7 Measurement/Relative‐Based DGNSS 8.8 GNSS Precise Point Positioning Services and Products Problems References
15 9 GNSS and GEO Signal Integrity 9.1 Introduction 9.2 SBAS and GBAS Integrity Design 9.3 SBAS Example 9.4 Summary 9.5 Future: GIC References
16 10 Kalman Filtering 10.1 Chapter Focus 10.2 Frequently Asked Questions 10.3 Notation 10.4 Kalman Filter Genesis 10.5 Alternative Implementations 10.6 Nonlinear Approximations 10.7 Diagnostics and Monitoring 10.8 GNSS‐Only Navigation 10.9 Summary Problems References Notes
17 11 Inertial Navigation Error Analysis 11.1 Chapter Focus 11.2 Errors in the Navigation Solution 11.3 Navigation Error Dynamics 11.4 Inertial Sensor Noise Propagation 11.5 Sensor Compensation Errors 11.6 Chapter Summary Problems References Notes
18 12 GNSS/INS Integration 12.1 Chapter Focus 12.2 New Application Opportunities 12.3 Integrated Navigation Models 12.4 Performance Analysis 12.5 Summary References Notes
19 Appendix A: Software A.1 Software Sources A.2 Software for Chapter 2 A.3 Software for Chapter 3 A.4 Software for Chapter 4 A.5 Software for Chapter 7 A.6 Software for Chapter 10 A.7 Software for Chapter 11 A.8 Software for Chapter 12 A.9 Software for Appendix B A.10 Software for Appendix C A.11 GPS Almanac/Ephemeris Data Sources
20 Appendix B: Coordinate Systems and TransformationsCoordinate Systems and Transformations B.1 Coordinate Transformation Matrices B.2 Inertial Reference Directions B.3 Application‐dependent Coordinate Systems B.4 Coordinate Transformation Models B.5 Newtonian Mechanics in Rotating Coordinates Notes
21 Appendix C: PDF Ambiguity Errors in Nonlinear Kalman FilteringPDF Ambiguity Errors in Nonlinear Kalman Filtering C.1 Objective C.2 Methodology C.3 Results C.4 Mitigating Application‐specific Ambiguity Errors References
22 Index
