LEADER 05275nam 2200661Ia 450 001 9910143193303321 005 20230607214049.0 010 $a1-280-26472-1 010 $a9786610264728 010 $a0-471-20071-9 035 $a(CKB)111087027120350 035 $a(EBL)219007 035 $a(OCoLC)122267449 035 $a(SSID)ssj0000080431 035 $a(PQKBManifestationID)11119614 035 $a(PQKBTitleCode)TC0000080431 035 $a(PQKBWorkID)10095247 035 $a(PQKB)10949122 035 $a(MiAaPQ)EBC219007 035 $a(EXLCZ)99111087027120350 100 $a20060627d2001 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aGlobal positioning systems, inertial navigation, and integration$b[electronic resource] /$fMohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews 210 $aHoboken, NJ $cWiley-Interscience$dc2001 215 $a1 online resource (415 p.) 300 $aDescription based upon print version of record. 311 $a0-471-46386-8 311 $a0-471-35032-X 320 $aIncludes bibliographical references and index. 327 $aCONTENTS; PREFACE; ACKNOWLEDGMENTS; ACRONYMS; 1 Introduction; 1.1 GPS and GLONASS Overview; 1.2 Differential and Augmented GPS; 1.3 Applications; 2 Fundamentals of Satellite and Inertial Navigation; 2.1 Navigation Systems Considered; 2.2 Fundamentals of Inertial Navigation; 2.3 Satellite Navigation; 2.4 Time and GPS; 2.5 User Position Calculations with No Errors; 2.6 User Velocity Calculation with No Errors; Problems; 3 Signal Characteristics and Information Extraction; 3.1 Mathematical Signal Waveform Models; 3.2 GPS Signal Components, Purposes and Properties; 3.3 Signal Power Levels 327 $a3.4 Signal Acquisition and Tracking3.5 Extraction of Information for Navigation Solution; 3.6 Theoretical Considerations in Pseudorange and Frequency Estimation; 3.7 Modernization of GPS; 3.8 GPS Satellite Position Calculations; Problems; 4 Receiver and Antenna Design; 4.1 Receiver Architecture; 4.2 Receiver Design Choices; 4.3 Antenna Design; Problems; 5 GPS Data Errors; 5.1 Selective Availability Errors; 5.2 Ionospheric Propagation Errors; 5.3 Tropospheric Propagation Errors; 5.4 The Multipath Problem; 5.5 How Multipath Causes Ranging Errors; 5.6 Methods of Multipath Mitigation 327 $a5.7 Theoretical Limits for Multipath Mitigation5.8 Ephemeris Data Errors; 5.9 Onboard Clock Errors; 5.10 Receiver Clock Errors; 5.11 Error Budgets; Problems; 6 Inertial Navigation; 6.1 Background; 6.2 Inertial Sensors; 6.3 Navigation Coordinates; 6.4 System Implementations; 6.5 System-Level Error Models; Problems; 7 Kalman Filter Basics; 7.1 Introduction; 7.2 State and Covariance Correction; 7.3 State and Covariance Prediction; 7.4 Summary of Kalman Filter Equations; 7.5 Accpmmodating Correlated Noise; 7.6 Nonlinear and Adaptive Implementations; 7.7 Kalman-Bucy Filter 327 $a7.8 GPS Receiver ExamplesProblems; 8 Kalman Filter Engineering; 8.1 More Stable Implementation Methods; 8.2 Implementation Requirements; 8.3 Kalman Filter Monitoring; 8.4 Schmidt-Kalman Suboptimal Filtering; 8.5 Covariance Analysis; 8.6 GPS/INS Integration Architectures; Problems; 9 Differential GPS; 9.1 Introduction; 9.2 LADGPS, WADGPS, and WAAS; 9.3 GEO Uplink Subsystem (GUS); 9.4 GEO Uplink Subsystem (GUS) Clock Steering Algorithms; 9.5 GEO Orbit Determination; Problems; Appendix A: Software; A.1 Chapter 3 Software; A.2 Chapter 5 Software; A.3 Chapter 6 Software; A.4 Chapter 7 Software 327 $aA.5 Chapter 8 SoftwareAppendix B: Vectors and Matrices; B.1 Scalars; B.2 Vectors; B.3 Matrices; Appendix C: Coordinate Transformations; C.1 Notation; C.2 Inertial Reference Directions; C.3 Coordinate Systems; C.4 Coordinate Transformation Models; GLOSSARY; A; B; C; D; E; F; G; I; L; M; N; P; R; S; T; V; W; Y; REFERENCES; INDEX; A; B; C; D; E; F; G; H; I; J; K; L; M; N; O; P; Q; R; S; T; U; V; W; Y; Z 330 $aThe only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problemsWritten by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), 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 606 $aGlobal Positioning System 606 $aInertial navigation 606 $aKalman filtering 615 0$aGlobal Positioning System. 615 0$aInertial navigation. 615 0$aKalman filtering. 676 $a629.045 676 $a910 676 $a910.282 700 $aGrewal$b Mohinder S$027535 701 $aWeill$b Lawrence R$g(Lawrence Randolph),$f1938-$0633616 701 $aAndrews$b Angus P$027536 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910143193303321 996 $aGlobal positioning systems, inertial navigation and integration$943334 997 $aUNINA