Global Positioning Systems, Inertial Navigation, and Integration, 2/e
暫譯: 全球定位系統、慣性導航與整合(第二版)
Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews
- 出版商: Wiley
- 出版日期: 2007-01-22
- 售價: $1,425
- 語言: 英文
- 頁數: 552
- 裝訂: Hardcover
- ISBN: 0470041900
- ISBN-13: 9780470041901
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相關主題
商品描述
Table of Contents
Preface.
Acknowledgments.
Dedication.
Acronyms.1 Introduction.
1.1 GNSS/INS Integration Overview.
1.2 GNSS Overview.
1.3 Differential and Augmented GPS.
1.4 Space-Based Augmentation Systems (SBASs).
1.5 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 Example GPS Calculations with no Errors.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.
3.4 Signal Acquisition and Tracking.
3.5 Extraction of Information for Navigation Solution.
3.6 Theoretical Considerations in Pseudorange and Frequency Estimation.
3.7 Modernization of GPS.4 Receiver and Antenna Design.
4.1 Receiver Architecture.
4.2 Receiver Design Choices.
4.3 High-Sensitivity-Assisted GPS Systems (Indoor Positioning).
4.4 Antenna Design.5 Global Navigation Satellite System 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.
5.7 Theoretical Limits for Multipath Mitigation.
5.8 Ephemeris Data Errors.
5.9 Onboard Clock Errors.
5.10 Receiver Clock Errors.
5.11 Error Budgets.
5.12 Differential GNSS.
5.13 GPS Precise Point Positioning Services and Products.6 Differential GNSS.
6.1 Introduction.
6.2 Descriptions of LADGPS, WADGPS, and SBAS.
6.3 Ground-Based Augmentation System (GBAS).
6.4 GEO Uplink Subsystem (GUS).
6.5 GUS Clock Steering Algorithms.
6.6 GEO with L1/L5 Signals.
6.7 New GUS Clock Steering Algorithm.
6.8 GEO Orbit Determination.7 GNSS and GEO Signal Integrity.
7.1 Receiver Autonomous Integrity Monitoring (RAIM).
7.2 SBAS and GBAS Integrity Design.
7.3 SBAS example.
7.4 Conclusions.
7.5 GPS Integrity Channel (GIC).8 Kalman Filtering.
8.1 Introduction.
8.2 Kalman Gain.
8.3 Prediction.
8.4 Summary of Kalman Filter Equations.
8.5 Accommodating Time-Correlated Noise.
8.6 Nonlinear and Adaptive Implementations.
8.7 Kalman–Bucy Filter.
8.8 GPS Receiver Examples.
8.9 Other Kalman Filter Improvements.9 Inertial Navigation Systems.
9.1 Inertial Sensor Technologies.
9.2 Inertial Systems Technologies.
9.3 Inertial Sensor Models.
9.4 System Implementation Models.
9.5 System-Level Error Models.10 GNSS/INS Integration.
10.1 Background.
10.2 Effects of Host Vehicle Dynamics.
10.3 Loosely Coupled Integration.
10.4 Tightly Coupled Integration.
10.5 Future Developments.Appendix A: Software.
A.1 Software Sources.
A.2 Software for Chapter 3.
A.3 Software for Chapter 5.
A.4 Software for Chapter 8.
A.5 Software for Chapter 9.
A.6 Software for Chapter 10.Appendix B: Vectors and Matrices.
B.1 Scalars.
B.2 Vectors.
B.3 Matrices.
B.4 Matrix Operations.
B.5 Block Matrix Formulas.
B.6 Functions of Square Matrices.
B.7 Norms.
B.8 Factorizations and Decompositions.
8.9 Quadratic Forms.
B.10 Derivatives of Matrices.Appendix C: Coordinate Transformations.
C.1 Notation.
C.2 Inertial Reference Directions.
C.3 Coordinate Systems.
C.4 Coordinate Transformation Models.References.
Index.
商品描述(中文翻譯)
目錄
前言
致謝
獻辭
縮寫
1 介紹
1.1 GNSS/INS 整合概述
1.2 GNSS 概述
1.3 差分與增強型 GPS
1.4 基於空間的增強系統 (SBAS)
1.5 應用
2 衛星與慣性導航基礎
2.1 考慮的導航系統
2.2 慣性導航基礎
2.3 衛星導航
2.4 時間與 GPS
2.5 無誤差的 GPS 計算範例
3 信號特性與信息提取
3.1 數學信號波形模型
3.2 GPS 信號組成、目的與特性
3.3 信號功率水平
3.4 信號獲取與跟蹤
3.5 導航解的資訊提取
3.6 假距與頻率估計的理論考量
3.7 GPS 的現代化
4 接收器與天線設計
4.1 接收器架構
4.2 接收器設計選擇
4.3 高靈敏度輔助 GPS 系統 (室內定位)
4.4 天線設計
5 全球導航衛星系統數據誤差
5.1 選擇性可用性誤差
5.2 電離層傳播誤差
5.3 對流層傳播誤差
5.4 多徑問題
5.5 多徑如何導致距離測量誤差
5.6 多徑緩解方法
5.7 多徑緩解的理論極限
5.8 星曆數據誤差
5.9 機載時鐘誤差
5.10 接收器時鐘誤差
5.11 誤差預算
5.12 差分 GNSS
5.13 GPS 精確點定位服務與產品
6 差分 GNSS
6.1 介紹
6.2 LADGPS、WADGPS 與 SBAS 的描述
6.3 基於地面的增強系統 (GBAS)
6.4 GEO 上行子系統 (GUS)
6.5 GUS 時鐘引導算法
6.6 GEO 與 L1/L5 信號
6.7 新的 GUS 時鐘引導算法
6.8 GEO 軌道確定
7 GNSS 與 GEO 信號完整性
7.1 接收器自主完整性監測 (RAIM)
7.2 SBAS 與 GBAS 完整性設計
7.3 SBAS 範例
7.4 結論
7.5 GPS 完整性通道 (GIC)
8 卡爾曼濾波
8.1 介紹
8.2 卡爾曼增益
8.3 預測
8.4 卡爾曼濾波方程的總結
8.5 考慮時間相關噪聲
8.6 非線性與自適應實現
8.7 卡爾曼–布基濾波
8.8 GPS 接收器範例
8.9 其他卡爾曼濾波改進
9 慣性導航系統
9.1 慣性傳感器技術
9.2 慣性系統技術
9.3 慣性傳感器模型
9.4 系統實現模型
9.5 系統級誤差模型
10 GNSS/INS 整合
10.1 背景
10.2 主機車輛動態的影響
10.3 鬆耦合整合
10.4 緊耦合整合
10.5 未來發展
附錄 A:軟體
A.1 軟體來源
A.2 第 3 章的軟體
A.3 第 5 章的軟體
A.4 第 8 章的軟體
A.5 第 9 章的軟體
A.6 第 10 章的軟體
附錄 B:向量與矩陣
B.1 標量
B.2 向量
B.3 矩陣
B.4 矩陣運算
B.5 區塊矩陣公式
B.6 方陣的函數
B.7 範數
B.8 因式分解與分解
B.9 二次型
B.10 矩陣的導數
附錄 C:坐標變換
C.1 符號
C.2 慣性參考方向
C.3 坐標系統
C.4 坐標變換模型
參考文獻
索引