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Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Autore Groves Paul D (Paul David)
Edizione [Second edition.]
Pubbl/distr/stampa Boston : , : Artech House, , [2013]
Descrizione fisica 1 online resource (800 p.)
Disciplina 629.045
Collana GNSS technology and application series
Soggetto topico Global Positioning System
Artificial satellites in navigation
Inertial navigation systems
Navigation - Technological innovations
Soggetto genere / forma Electronic books.
ISBN 1-5231-1752-4
1-60807-006-9
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
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.
Record Nr. UNINA-9910465335103321
Groves Paul D (Paul David)  
Boston : , : Artech House, , [2013]
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui
Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Autore Groves Paul D (Paul David)
Edizione [Second edition.]
Pubbl/distr/stampa Boston : , : Artech House, , [2013]
Descrizione fisica 1 online resource (800 p.)
Disciplina 629.045
Collana GNSS technology and application series
Soggetto topico Global Positioning System
Artificial satellites in navigation
Inertial navigation systems
Navigation - Technological innovations
ISBN 1-5231-1752-4
1-60807-006-9
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
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.
Record Nr. UNINA-9910792280603321
Groves Paul D (Paul David)  
Boston : , : Artech House, , [2013]
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui
Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Principles of GNSS, inertial, and multisensor integrated navigation systems / / Paul D. Groves
Autore Groves Paul D (Paul David)
Edizione [Second edition.]
Pubbl/distr/stampa Boston : , : Artech House, , [2013]
Descrizione fisica 1 online resource (800 p.)
Disciplina 629.045
Collana GNSS technology and application series
Soggetto topico Global Positioning System
Artificial satellites in navigation
Inertial navigation systems
Navigation - Technological innovations
ISBN 1-5231-1752-4
1-60807-006-9
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
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.
Record Nr. UNINA-9910813726403321
Groves Paul D (Paul David)  
Boston : , : Artech House, , [2013]
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui