Global Positioning Systems, Inertial Navigation, and by Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews

By Mohinder S. Grewal,Lawrence R. Weill,Angus P. Andrews

An up-to-date advisor to GNSS and INS, and strategies to real-world GPS/INS issues of Kalman filtering

Written via famous specialists within the box, this moment version of a landmark paintings offers engineers, desktop scientists, and others with a operating familiarity with the idea and modern functions of worldwide Navigation satellite tv for pc platforms (GNSS), Inertial Navigational platforms (INS), and Kalman filters. all through, the focal point is on fixing real-world difficulties, with an emphasis at the powerful use of state of the art integration options for these platforms, specifically the applying of Kalman filtering. for that reason, the authors discover a few of the subtleties, universal mess ups, and inherent barriers of the speculation because it applies to real-world occasions, and supply various precise software examples and perform difficulties, together with GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.

Drawing upon their a long time of expertise with GNSS, INS, and the Kalman clear out, the authors current quite a few layout and implementation suggestions now not present in different specialist references. This moment variation has been up to date to include:

  • GNSS sign integrity with SBAS
  • Mitigation of multipath, together with results
  • Ionospheric hold up estimation with Kalman filters
  • New MATLAB courses for satellite tv for pc place decision utilizing almanac and ephemeris info and ionospheric hold up calculations from unmarried and twin frequency data
  • New algorithms for GEO with L1 /L5 frequencies and clock steering
  • Implementation of mechanization equations in numerically sturdy algorithms

To improve comprehension of the topics lined, the authors have incorporated software program in MATLAB, demonstrating the operating of the GNSS, INS, and filter out algorithms. as well as exhibiting the Kalman filter out in motion, the software program additionally demonstrates a variety of sensible facets of finite observe size mathematics and the necessity for replacement algorithms to maintain consequence accuracy.

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