GLOBAL NAVIGATION SATELLITE SYSTEMS， INERTIAL NAVIGATION， AND INTEGRATION 4/E
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- 出版日：2020/09/18
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內容簡介
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.
目錄
Preface to the Fourth Edition xxv
Acknowledgments xxix
About the Authors xxx
Acronyms xxxi
About the Companion Website xxxix
1 Introduction 1
1.1 Navigation 1
1.1.1 Navigation-Related Technologies 1
1.1.2 Navigation Modes 2
1.2 GNSS Overview 3
1.2.1 GPS 4
1.2.2 Global Orbiting Navigation Satellite System (GLONASS) 6
1.2.3 Galileo 7
1.2.4 BeiDou 9
1.2.5 Regional Satellite Systems 10
1.3 Inertial Navigation Overview 10
1.3.1 History 11
1.3.2 Development Results 12
1.4 GNSS/INS Integration Overview 16
1.4.1 The Role of Kalman Filtering 16
1.4.2 Implementation 17
Problems 17
References 18
2 Fundamentals of Satellite Navigation Systems 21
2.1 Chapter Focus 21
2.2 Satellite Navigation Systems Considerations 21
2.2.1 Systems Other than GNSS 21
2.2.2 Comparison Criteria 22
2.3 Satellite Navigation 22
2.3.1 GNSS Orbits 23
2.3.2 Navigation Solution (Two-Dimensional Example) 25
2.3.3 User Solution and Dilution of Precision (DOP) 28
2.3.4 Example Calculation of DOPs 32
2.4 Time and GPS 33
2.4.1 Coordinated Universal Time (UTC) Generation 33
2.4.2 GPS System Time 33
2.4.3 Receiver Computation of UTC 34
2.5 Example: User Position Calculations with No Errors 35
2.5.1 User Position Calculations 35
2.5.2 User Velocity Calculations 37
Problems 39
References 41
3 Fundamentals of Inertial Navigation 43
3.1 Chapter Focus 43
3.2 Terminology 44
3.3 Inertial Sensor Technologies 50
3.3.1 Gyroscopes 50
3.3.2 Accelerometers 53
3.3.3 Sensor Errors 55
3.3.4 Inertial Sensor Assembly (ISA) Calibration 57
3.3.5 Carouseling and Indexing 60
3.4 Inertial Navigation Models 60
3.4.1 Geoid Models 61
3.4.2 Terrestrial Navigation Coordinates 61
3.4.3 Earth Rotation Model 63
3.4.4 Gravity Models 63
3.4.5 Attitude Models 68
3.5 Initializing the Navigation Solution 70
3.5.1 Initialization from an Earth-fixed Stationary State 70
3.5.2 Initialization on the Move 73
3.6 Propagating the Navigation Solution 73
3.6.1 Attitude Propagation 73
3.6.2 Position and Velocity Propagation 82
3.7 Testing and Evaluation 86
3.7.1 Laboratory Testing 86
3.7.2 Field Testing 86
3.7.3 Performance Qualification Testing 87
3.8 Summary 89
3.8.1 Further Reading 89
Problems 90
References 92
4 GNSS Signal Structure, Characteristics, and Information Utilization 93
4.1 Legacy GPS Signal Components, Purposes, and Properties 93
4.1.1 Signal Models for the Legacy GPS Signals 94
4.1.2 Navigation Data Format 98
4.1.3 GPS Satellite Position Calculations 102
4.1.4 C/A-Code and Its Properties 108
4.1.5 P(Y)-Code and Its Properties 115
4.1.6 L1 and L2 Carriers 116
4.1.7 Transmitted Power Levels 117
4.1.8 Free Space and Other Loss Factors 117
4.1.9 Received Signal Power 118
4.2 Modernization of GPS 118
4.2.1 Benefits from GPS Modernization 119
4.2.2 Elements of the Modernized GPS 120
4.2.3 L2 Civil Signal (L2C) 122
4.2.4 L5 Signal 123
4.2.5 M-Code 125
4.2.6 L1C Signal 126
4.2.7 GPS Satellite Blocks 128
4.2.8 GPS Ground Control Segment 129
4.3 GLONASS Signal Structure and Characteristics 129
4.3.1 Frequency Division Multiple Access (FDMA) Signals 130
4.3.2 CDMA Modernization 131
4.4 Galileo 132
4.4.1 Constellation and Levels of Services 132
4.4.2 Navigation Data and Signals 132
4.5 BeiDou 134
4.6 QZSS 135
4.7 IRNSS/NAVIC 138
Problems 138
References 141
5 GNSS Antenna Design and Analysis 145
5.1 Applications 145
5.2 GNSS Antenna Performance Characteristics 145
5.2.1 Size and Cost 145
5.2.2 Frequency and Bandwidth Coverage 146
5.2.3 Radiation Pattern Characteristics 147
5.2.4 Antenna Polarization and Axial Ratio 149
5.2.5 Directivity, Efficiency, and Gain of a GNSS Antenna 152
5.2.6 Antenna Impedance, Standing Wave Ratio, and Return Loss 153
5.2.7 Antenna Bandwidth 154
Acknowledgments xxix
About the Authors xxx
Acronyms xxxi
About the Companion Website xxxix
1 Introduction 1
1.1 Navigation 1
1.1.1 Navigation-Related Technologies 1
1.1.2 Navigation Modes 2
1.2 GNSS Overview 3
1.2.1 GPS 4
1.2.2 Global Orbiting Navigation Satellite System (GLONASS) 6
1.2.3 Galileo 7
1.2.4 BeiDou 9
1.2.5 Regional Satellite Systems 10
1.3 Inertial Navigation Overview 10
1.3.1 History 11
1.3.2 Development Results 12
1.4 GNSS/INS Integration Overview 16
1.4.1 The Role of Kalman Filtering 16
1.4.2 Implementation 17
Problems 17
References 18
2 Fundamentals of Satellite Navigation Systems 21
2.1 Chapter Focus 21
2.2 Satellite Navigation Systems Considerations 21
2.2.1 Systems Other than GNSS 21
2.2.2 Comparison Criteria 22
2.3 Satellite Navigation 22
2.3.1 GNSS Orbits 23
2.3.2 Navigation Solution (Two-Dimensional Example) 25
2.3.3 User Solution and Dilution of Precision (DOP) 28
2.3.4 Example Calculation of DOPs 32
2.4 Time and GPS 33
2.4.1 Coordinated Universal Time (UTC) Generation 33
2.4.2 GPS System Time 33
2.4.3 Receiver Computation of UTC 34
2.5 Example: User Position Calculations with No Errors 35
2.5.1 User Position Calculations 35
2.5.2 User Velocity Calculations 37
Problems 39
References 41
3 Fundamentals of Inertial Navigation 43
3.1 Chapter Focus 43
3.2 Terminology 44
3.3 Inertial Sensor Technologies 50
3.3.1 Gyroscopes 50
3.3.2 Accelerometers 53
3.3.3 Sensor Errors 55
3.3.4 Inertial Sensor Assembly (ISA) Calibration 57
3.3.5 Carouseling and Indexing 60
3.4 Inertial Navigation Models 60
3.4.1 Geoid Models 61
3.4.2 Terrestrial Navigation Coordinates 61
3.4.3 Earth Rotation Model 63
3.4.4 Gravity Models 63
3.4.5 Attitude Models 68
3.5 Initializing the Navigation Solution 70
3.5.1 Initialization from an Earth-fixed Stationary State 70
3.5.2 Initialization on the Move 73
3.6 Propagating the Navigation Solution 73
3.6.1 Attitude Propagation 73
3.6.2 Position and Velocity Propagation 82
3.7 Testing and Evaluation 86
3.7.1 Laboratory Testing 86
3.7.2 Field Testing 86
3.7.3 Performance Qualification Testing 87
3.8 Summary 89
3.8.1 Further Reading 89
Problems 90
References 92
4 GNSS Signal Structure, Characteristics, and Information Utilization 93
4.1 Legacy GPS Signal Components, Purposes, and Properties 93
4.1.1 Signal Models for the Legacy GPS Signals 94
4.1.2 Navigation Data Format 98
4.1.3 GPS Satellite Position Calculations 102
4.1.4 C/A-Code and Its Properties 108
4.1.5 P(Y)-Code and Its Properties 115
4.1.6 L1 and L2 Carriers 116
4.1.7 Transmitted Power Levels 117
4.1.8 Free Space and Other Loss Factors 117
4.1.9 Received Signal Power 118
4.2 Modernization of GPS 118
4.2.1 Benefits from GPS Modernization 119
4.2.2 Elements of the Modernized GPS 120
4.2.3 L2 Civil Signal (L2C) 122
4.2.4 L5 Signal 123
4.2.5 M-Code 125
4.2.6 L1C Signal 126
4.2.7 GPS Satellite Blocks 128
4.2.8 GPS Ground Control Segment 129
4.3 GLONASS Signal Structure and Characteristics 129
4.3.1 Frequency Division Multiple Access (FDMA) Signals 130
4.3.2 CDMA Modernization 131
4.4 Galileo 132
4.4.1 Constellation and Levels of Services 132
4.4.2 Navigation Data and Signals 132
4.5 BeiDou 134
4.6 QZSS 135
4.7 IRNSS/NAVIC 138
Problems 138
References 141
5 GNSS Antenna Design and Analysis 145
5.1 Applications 145
5.2 GNSS Antenna Performance Characteristics 145
5.2.1 Size and Cost 145
5.2.2 Frequency and Bandwidth Coverage 146
5.2.3 Radiation Pattern Characteristics 147
5.2.4 Antenna Polarization and Axial Ratio 149
5.2.5 Directivity, Efficiency, and Gain of a GNSS Antenna 152
5.2.6 Antenna Impedance, Standing Wave Ratio, and Return Loss 153
5.2.7 Antenna Bandwidth 154
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