简介
A text for an introductory course in the technology at the senior or first-level graduate level that practicing engineers and scientists could also use for self-study. Grewal (California State U.-Fullerton) joins his colleague Lawrence R. Weill and Angus P. Andres (Rockwell Science Center) to offer information on both the theoretical and practical aspects of global positioning systems, inertial navigation systems, and Kalman filters. They include such practical aspects of implementation as representing problems in a mathematical model, analyzing performance as a function of model parameters, implementing the mechanization equations in numerically stable algorithms, and assessing its computational requirements. The disk contains demonstrations and scripts in MATLAB. Annotation c. Book News, Inc., Portland, OR (booknews.com)
目录
Preface p. ix
Acknowledgments p. xiii
Acronyms p. xv
Introduction p. 1
GPS and Glonass Overview p. 2
Differential and Augmented GPS p. 5
Applications p. 7
Fundamentals of Satellite and Inertial Navigation p. 9
Navigation Systems Considered p. 9
Fundamentals of Inertial Navigation p. 10
Satellite Navigation p. 14
Time and GPS p. 24
User Position Calculations with No Errors p. 26
User Velocity Calculation with No Errors p. 28
Problems p. 29
Signal Characteristics and Information Extraction p. 30
Mathematical Signal Waveform Models p. 30
GPS Signal Components, Purposes and Properties p. 32
Signal Power Levels p. 45
Signal Acquisition and Tracking p. 46
Extraction of Information for Navigation Solution p. 61
Theoretical Considerations in Pseudorange and Frequency Estimation p. 67
Modernization of GPS p. 71
GPS Satellite Position Calculations p. 76
Problems p. 78
Receiver and Antenna Design p. 80
Receiver Architecture p. 80
Receiver Design Choices p. 85
Antenna Design p. 98
Problems p. 100
GPS Data Errors p. 103
Selective Availability Errors p. 103
Ionospheric Propagation Errors p. 110
Tropospheric Propagation Errors p. 114
The Multipath Problem p. 115
How Multipath Causes Ranging Errors p. 116
Methods of Multipath Mitigation p. 118
Theoretical Limits for Multipath Mitigation p. 124
Ephemeris Data Errors p. 126
Onboard Clock Errors p. 126
Receiver Clock Errors p. 127
Error Budgets p. 128
Problems p. 130
Intertial Navigation p. 131
Background p. 131
Inertial Sensors p. 135
Navigation Coordinates p. 152
System Implementations p. 153
System-Level Error Models p. 170
Problems p. 178
Kalman Filter Basics p. 179
Introduction p. 179
State and Covariance Correction p. 181
State and Covariance Prediction p. 190
Summary of Kalman Filter Equations p. 198
Accommodating Correlated Noise p. 201
Nonlinear and Adaptive Implementations p. 207
Kalman-Bucy Filter p. 213
GPS Receiver Examples p. 215
Problems p. 224
Kalman Filter Engineering p. 229
More Stable Implementation Methods p. 229
Implementation Requirements p. 239
Kalman Filter Monitoring p. 245
Schmidt-Kalman Suboptimal Filtering p. 250
Covariance Analysis p. 251
GPS/INS Integration Architectures p. 252
Problems p. 264
Differential GPS p. 265
Introduction p. 265
LADGPS, WADGPS, and WAAS p. 266
GEO Uplink Subsystem (GUS) p. 269
GEO Uplink Subsystem (GUS) Clock Steering Algorithms p. 276
GEO Orbit Determination p. 282
Problems p. 290
Software p. 291
Chapter 3 Software p. 291
Chapter 5 Software p. 291
Chapter 6 Software p. 291
Chapter 7 Software p. 292
Chapter 8 Software p. 294
Vectors and Matrices p. 296
Scalars p. 296
Vectors p. 297
Matrices p. 300
Coordinate Transformations p. 324
Notation p. 324
Inertial Reference Directions p. 326
Coordinate Systems p. 328
Coordinate Transformation Models p. 346
Glossary p. 370
References p. 374
Index p. 383
Acknowledgments p. xiii
Acronyms p. xv
Introduction p. 1
GPS and Glonass Overview p. 2
Differential and Augmented GPS p. 5
Applications p. 7
Fundamentals of Satellite and Inertial Navigation p. 9
Navigation Systems Considered p. 9
Fundamentals of Inertial Navigation p. 10
Satellite Navigation p. 14
Time and GPS p. 24
User Position Calculations with No Errors p. 26
User Velocity Calculation with No Errors p. 28
Problems p. 29
Signal Characteristics and Information Extraction p. 30
Mathematical Signal Waveform Models p. 30
GPS Signal Components, Purposes and Properties p. 32
Signal Power Levels p. 45
Signal Acquisition and Tracking p. 46
Extraction of Information for Navigation Solution p. 61
Theoretical Considerations in Pseudorange and Frequency Estimation p. 67
Modernization of GPS p. 71
GPS Satellite Position Calculations p. 76
Problems p. 78
Receiver and Antenna Design p. 80
Receiver Architecture p. 80
Receiver Design Choices p. 85
Antenna Design p. 98
Problems p. 100
GPS Data Errors p. 103
Selective Availability Errors p. 103
Ionospheric Propagation Errors p. 110
Tropospheric Propagation Errors p. 114
The Multipath Problem p. 115
How Multipath Causes Ranging Errors p. 116
Methods of Multipath Mitigation p. 118
Theoretical Limits for Multipath Mitigation p. 124
Ephemeris Data Errors p. 126
Onboard Clock Errors p. 126
Receiver Clock Errors p. 127
Error Budgets p. 128
Problems p. 130
Intertial Navigation p. 131
Background p. 131
Inertial Sensors p. 135
Navigation Coordinates p. 152
System Implementations p. 153
System-Level Error Models p. 170
Problems p. 178
Kalman Filter Basics p. 179
Introduction p. 179
State and Covariance Correction p. 181
State and Covariance Prediction p. 190
Summary of Kalman Filter Equations p. 198
Accommodating Correlated Noise p. 201
Nonlinear and Adaptive Implementations p. 207
Kalman-Bucy Filter p. 213
GPS Receiver Examples p. 215
Problems p. 224
Kalman Filter Engineering p. 229
More Stable Implementation Methods p. 229
Implementation Requirements p. 239
Kalman Filter Monitoring p. 245
Schmidt-Kalman Suboptimal Filtering p. 250
Covariance Analysis p. 251
GPS/INS Integration Architectures p. 252
Problems p. 264
Differential GPS p. 265
Introduction p. 265
LADGPS, WADGPS, and WAAS p. 266
GEO Uplink Subsystem (GUS) p. 269
GEO Uplink Subsystem (GUS) Clock Steering Algorithms p. 276
GEO Orbit Determination p. 282
Problems p. 290
Software p. 291
Chapter 3 Software p. 291
Chapter 5 Software p. 291
Chapter 6 Software p. 291
Chapter 7 Software p. 292
Chapter 8 Software p. 294
Vectors and Matrices p. 296
Scalars p. 296
Vectors p. 297
Matrices p. 300
Coordinate Transformations p. 324
Notation p. 324
Inertial Reference Directions p. 326
Coordinate Systems p. 328
Coordinate Transformation Models p. 346
Glossary p. 370
References p. 374
Index p. 383
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