Analysis Of An Integrated Inertial Doppler Satellite Navigation System Part I Theory And Mathematical Model PDF Download

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Analysis of an Integrated Inertial/doppler-satellite Navigation System: Part I. Theory and Mathematical Model

Analysis of an Integrated Inertial/doppler-satellite Navigation System: Part I. Theory and Mathematical Model
Author: R. Grover Brown
Publisher:
Total Pages: 71
Release: 1969
Genre:
ISBN:
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Inertial navigation systems have reached a high level of sophistication in recent years, but the effect of long-term-drift is still a problem in many applications. It has been demonstrated that position fixes obtained from the Navy Navigation Satellite System may be used to update an inertial system, but simple position updating can not correct the underlying causes of the drift nor can it correct the Schuler oscillation in the undamped case. This report describes a method of system integration whereby the Doppler data is treated directly as the observable in a Kalman-filter reset scheme. The advantage of this approach is that estimates of the inertial velocity and gyro bias errors are obtained as well as the position errors. Thus, the additional information obtained from the Kalman filter can be used to reduce the rate of error propagation in the interim between passes. Details of the Kalman filter model are presented in the report. (Author).

Applied Mathematics in Integrated Navigation Systems

Applied Mathematics in Integrated Navigation Systems
Author: Robert M. Rogers
Publisher: AIAA
Total Pages: 356
Release: 2003
Genre: Technology & Engineering
ISBN: 9781563476563
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Descripción dele ditor: "The subject of integrated navigation systems covered in this book is designed for those directly involved with the design, integration, and test and evaluation of navigation systems. It is assumed that the reader has a background in mathematics, including calculus. Integrated navigation systems are the combination of an onboard navigation solution (position, velocity, and attitude) and independent navigation data (aids to navigation) to update or correct navigation solutions. In this book, this combination is accomplished with Kalman filter algorithms. Elements of basic mathematics, kinematics, equations describing navigation systems/sensors and their error models, aids to navigation, and Kalman filtering are developed. Detailed derivations are presented and examples are given to aid in the understanding of these elements of integrated navigation systems. Problems are included to expand the application of the materials presented. The third edition includes additional background material, exercises and software. The added material includes: development of general form for Earth's gravitational potential with simplification to an ellipsoid model; development of satellite orbital equations for position and velocity and the impact of non-spherical earth gravitation on satellite orbital parameters; and illustrations in the development of derivative-free Kalman filters including the Unscented and Divided Difference filter forms. Additional exercises are included that expand and supplement the material in the text and demonstrate properties of the Kalman filter. Additional software is included in this edition for simulating random processes and derivative-free filter implementations. This edition provides a more complete foundation for addressing the different aspects of integrated navigation systems.This BookApplied Mathematics in Integrated Navigation Systems, Third Edition coverCopyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc.https://doi.org/10.2514/4.861598Supplemental MaterialsPricesHardbackMember: $74.95List: $94.95Not an AIAA Member? Join today and start saving!Site Tools Sign up for e-alerts RSS" (ARC).

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration
Author: Aboelmagd Noureldin
Publisher: Springer Science & Business Media
Total Pages: 324
Release: 2012-10-26
Genre: Technology & Engineering
ISBN: 3642304664
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Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Integrated Aircraft Navigation

Integrated Aircraft Navigation
Author: James Farrell
Publisher: Elsevier
Total Pages: 368
Release: 2012-12-02
Genre: Transportation
ISBN: 0323153798
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Integrated Aircraft Navigation discusses the fundamentals of navigation systems analysis. Modern aircraft navigation systems are characterized by a multifaceted, computer-oriented approach, covering various branches of theoretical dynamics, inertial measurements, radar, radio navaids, celestial observations, and widely used statistical estimation techniques. Each pertinent field entails much technological development that is not essential for applied systems analysis. The book presents pertinent information extracted from a broad range of topics, expressed in terms of Newtonian physics and matrix-vector mathematics. The book begins by defining basic navigation quantities and functions, and introducing various subjects as an aid to subsequent developments. These include basic motion patterns, navigation coordinate frames, and navigation techniques and requirements. This is followed by separate chapters on coordinate transformations and kinematics; inertial navigation theory; the physics of inertial measurements; and navigation with multiple sensors. Subsequent chapters deal with dynamic equations for all navigation modes considered; functional relationships and practical considerations for the various navigation aid sensors in common usage; and system applications. This book will be useful to the student or practicing engineer who wants a valid analytical characterization, using the simplest theoretical concepts permissible, while omitting specialized mechanization details.

Global Positioning Systems, Inertial Navigation, and Integration

Global Positioning Systems, Inertial Navigation, and Integration
Author: Mohinder S. Grewal
Publisher: John Wiley & Sons
Total Pages: 416
Release: 2007-03-05
Genre: Science
ISBN: 0470099712
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An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), 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 authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

Global Navigation Satellite Systems, Inertial Navigation, and Integration

Global Navigation Satellite Systems, Inertial Navigation, and Integration
Author: Mohinder S. Grewal
Publisher: John Wiley & Sons
Total Pages: 610
Release: 2020-01-22
Genre: Science
ISBN: 1119547830
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Covers significant changes in GPS/INS technology, and includes new material on GPS, GNSSs including GPS, Glonass, Galileo, BeiDou, QZSS, and IRNSS/NAViC, and MATLAB programs on square root information filtering (SRIF) This book provides readers with solutions to real-world problems associated with global navigation satellite systems, inertial navigation, and integration. It presents readers with numerous detailed examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. This revised fourth edition adds new material on GPS III and RAIM. It also provides updated information on low cost sensors such as MEMS, as well as GLONASS, Galileo, BeiDou, QZSS, and IRNSS/NAViC, and QZSS. Revisions also include added material on the more numerically stable square-root information filter (SRIF) with MATLAB programs and examples from GNSS system state filters such as ensemble time filter with square-root covariance filter (SRCF) of Bierman and Thornton and SigmaRho filter. Global Navigation Satellite Systems, Inertial Navigation, and Integration, 4th Edition provides: Updates on the significant upgrades in existing GNSS systems, and on other systems currently under advanced development Expanded coverage of basic principles of antenna design, and practical antenna design solutions More information on basic principles of receiver design, and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Examples demonstrating independence of Kalman filtering from probability density functions of error sources beyond their means and covariances New coverage of inertial navigation to cover recent technology developments and the mathematical models and methods used in its implementation Wider coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB implementations, and performance evaluation under simulated dynamic conditions Global Navigation Satellite Systems, Inertial Navigation, and Integration, Fourth Edition is intended for people who need a working knowledge of Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and the Kalman filtering models and methods used in their integration.

Inertial Navigation Systems with Geodetic Applications

Inertial Navigation Systems with Geodetic Applications
Author: Christopher Jekeli
Publisher: Walter de Gruyter GmbH & Co KG
Total Pages: 424
Release: 2023-07-24
Genre: Science
ISBN: 3110784327
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This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.

Guidance and Control

Guidance and Control
Author: Robert Roberson
Publisher: Elsevier
Total Pages: 687
Release: 2012-12-02
Genre: Technology & Engineering
ISBN: 0323143431
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Guidance and Control focuses on space guidance models and behavior control techniques needed in space missions. Divided into eight parts with 30 chapters, the book contains the literature of authors who have conducted extensive research on factors affecting space missions. The concerns include ascent from Earth to an orbit requiring navigation as well as descent to Earth or the moon; the system aspects of inertial navigation; and developments in modern control theory and attitude control. The text looks at experiments on the launch of space missions and the different mathematical techniques used to measure the movement of a variable-mass vehicle. The selection also notes the processes and techniques involved in keeping satellites in compatible orbits; the influence of calculus of perturbations as applied to lunar mission analysis; and tracking of space vehicles through satellites and radar. The book also presents guidance systems for soft lunar landing and the longitudinal control of a lifting vehicle entering a planetary atmosphere. Other concerns include the application of sideband folding techniques to navigation satellite system; Damping an inertial navigation system; and application of multiple inertial system in navigation. The text ends by highlighting the use of gyroscopes in space navigation and infrared navigation sensors in space vehicles and how solar radiation affects pressure on satellite attitude control. The book is valuable for readers interested in studying the factors involved in space missions.