Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves

• Autore: Groves Paul D (Paul David)
• Pubblicazione: Boston : , : Artech House, , [2013]; [Piscataqay, New Jersey] : , : IEEE Xplore, , [2013]
• Edizione: Second edition.
• Descrizione fisica: 1 online resource (800 p.)
• Disciplina: 629.045
• Soggetto topico: Global Positioning System; Artificial satellites in navigation; Inertial navigation systems; Navigation - Technological innovations
• Note generali: Bibliographic Level Mode of Issuance: Monograph
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Note continued: 12.3. Short-Range Communications Systems -- 12.3.1. Wireless Local Area Networks (Wi-Fi) -- 12.3.2. Wireless Personal Area Networks -- 12.3.3. Radio Frequency Identification -- 12.3.4. Bluetooth Low Energy -- 12.3.5. Dedicated Short-Range Communication -- 12.4. Underwater Acoustic Positioning -- 12.5. Other Positioning Technologies -- 12.5.1. Radio -- 12.5.2. Ultrasound -- 12.5.3. Infrared -- 12.5.4. Optical -- 12.5.5. Magnetic -- References -- ch. 13 Environmental Feature Matching -- 13.1. Map Matching -- 13.1.1. Digital Road Maps -- 13.1.2. Road Link Identification -- 13.1.3. Road Positioning -- 13.1.4. Rail Map Matching -- 13.1.5. Pedestrian Map Matching -- 13.2. Terrain-Referenced Navigation -- 13.2.1. Sequential Processing -- 13.2.2. Batch Processing -- 13.2.3. Performance -- 13.2.4. Laser TRN -- 13.2.5. Sonar TRN -- 13.2.6. Barometric TRN -- 13.2.7. Terrain Database Height Aiding -- 13.3. Image-Based Navigation -- 13.3.1. Imaging Sensors -- 13.3.2. Image Feature Comparison -- 13.3.3. Position Fixing Using Individual Features -- 13.3.4. Position Fixing by Whole-Image Matching -- 13.3.5. Visual Odometry -- 13.3.6. Feature Tracking -- 13.3.7. Stellar Navigation -- 13.4. Other Feature-Matching Techniques -- 13.4.1. Gravity Gradiometry -- 13.4.2. Magnetic Field Variation -- 13.4.3. Celestial X-Ray Sources -- References -- ch. 14 INS/GNSS Integration -- 14.1. Integration Architectures -- 14.1.1. Correction of the Inertial Navigation Solution -- 14.1.2. Loosely Coupled Integration -- 14.1.3. Tightly Coupled Integration -- 14.1.4. GNSS Aiding -- 14.1.5. Deeply Coupled Integration -- 14.2. System Model and State Selection -- 14.2.1. State Selection and Observability -- 14.2.2. INS State Propagation in an Inertial Frame -- 14.2.3. INS State Propagation in an Earth Frame -- 14.2.4. INS State Propagation Resolved in a Local Navigation Frame -- 14.2.5. Additional IMU Error States -- 14.2.6. INS System Noise -- 14.2.7. GNSS State Propagation and System Noise -- 14.2.8. State Initialization -- 14.3. Measurement Models -- 14.3.1. Loosely Coupled Integration -- 14.3.2. Tightly Coupled Integration -- 14.3.3. Deeply Coupled Integration -- 14.3.4. Estimation of Attitude and Instrument Errors -- 14.4. Advanced INS/GNSS Integration -- 14.4.1. Differential GNSS -- 14.4.2. Carrier-Phase Positioning -- 14.4.3. GNSS Attitude -- 14.4.4. Large Heading Errors -- 14.4.5. Advanced IMU Error Modeling -- 14.4.6. Smoothing -- References -- ch. 15 INS Alignment, Zero Updates, and Motion Constraints -- 15.1. Transfer Alignment -- 15.1.1. Conventional Measurement Matching -- 15.1.2. Rapid Transfer Alignment -- 15.1.3. Reference Navigation System -- 15.2. Quasi-Stationary Alignment -- 15.2.1. Coarse Alignment -- 15.2.2. Fine Alignment -- 15.3. Zero Updates -- 15.3.1. Stationary-Condition Detection -- 15.3.2. Zero Velocity Update -- 15.3.3. Zero Angular Rate Update -- 15.4. Motion Constraints -- 15.4.1. Land Vehicle Constraints -- 15.4.2. Pedestrian Constraints -- 15.4.3. Ship and Boat Constraint -- References -- ch. 16 Multisensor Integrated Navigation -- 16.1. Integration Architectures -- 16.1.1. Cascaded Single-Epoch Integration -- 16.1.2. Centralized Single-Epoch Integration -- 16.1.3. Cascaded Filtered Integration -- 16.1.4. Centralized Filtered Integration -- 16.1.5. Federated Filtered Integration -- 16.1.6. Hybrid Integration Architectures -- 16.1.7. Total-State Kalman Filter Employing Prediction -- 16.1.8. Error-State Kalman Filter -- 16.1.9. Primary and Reversionary Moding -- 16.1.10. Context-Adaptive Moding -- 16.2. Dead Reckoning, Attitude, and Height Measurement -- 16.2.1. Attitude -- 16.2.2. Height and Depth -- 16.2.3. Odometry -- 16.2.4. Pedestrian Dead Reckoning Using Step Detection -- 16.2.5. Doppler Radar and Sonar -- 16.2.6. Visual Odometry and Terrain-Referenced Dead Reckoning -- 16.3. Position-Fixing Measurements -- 16.3.1. Position Measurement Integration -- 16.3.2. Ranging Measurement Integration -- 16.3.3. Angular Measurement Integration -- 16.3.4. Line Fix Integration -- 16.3.5. Handling Ambiguous Measurements -- 16.3.6. Feature Tracking and Mapping -- 16.3.7. Aiding of Position-Fixing Systems -- References -- ch. 17 Fault Detection, Integrity Monitoring, and Testing -- 17.1. Failure Modes -- 17.1.1. Inertial Navigation -- 17.1.2. Dead Reckoning, Attitude, and Height Measurement -- 17.1.3. GNSS -- 17.1.4. Terrestrial Radio Navigation -- 17.1.5. Environmental Feature Matching and Tracking -- 17.1.6. Integration Algorithm -- 17.1.7. Context -- 17.2. Range Checks -- 17.2.1. Sensor Outputs -- 17.2.2. Navigation Solution -- 17.2.3. Kalman Filter Estimates -- 17.3. Kalman Filter Measurement Innovations -- 17.3.1. Innovation Filtering -- 17.3.2. Innovation Sequence Monitoring -- 17.3.3. Remedying Biased State Estimates -- 17.4. Direct Consistency Checks -- 17.4.1. Measurement Consistency Checks and RAIM -- 17.4.2. Parallel Solutions -- 17.5. Infrastructure-Based Integrity Monitoring -- 17.6. Solution Protection and Performance Requirements -- 17.7. Testing -- 17.7.1. Field Trials -- 17.7.2. Recorded Data Testing -- 17.7.3. Laboratory Testing -- 17.7.4. Software Simulation -- References -- ch. 18 Applications and Future Trends -- 18.1. Design and Development -- 18.2. Aviation -- 18.3. Guided Weapons and Small UAVs -- 18.4. Land Vehicle Applications -- 18.5. Rail Navigation -- 18.6. Marine Navigation -- 18.7. Underwater Navigation -- 18.8. Spacecraft Navigation -- 18.9. Pedestrian Navigation -- 18.10. Other Applications -- 18.11. Future Trends -- References.
• Sommario/riassunto: This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies. 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 coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. 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 context-dependent and cooperative positioning.
• Titolo autorizzato: Principles of GNSS, inertial, and multisensor integrated navigation systems
• ISBN: 1-5231-1752-4; 1-60807-006-9
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910813726403321
• Lo trovi qui: Univ. Federico II
• Serie: GNSS technology and applications series.