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Inertial Navigation Systems with Geodetic Applications - Christopher Jekeli

Inertial Navigation Systems with Geodetic Applications

Hardcover

Published: 1st January 2001
For Ages: 22+ years old
Ships: 7 to 10 business days
7 to 10 business days
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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 the Global Positioning System (GPS) for geodetic applications. Complete mathematical derivations are given. Both stabilized and strapdown mechanizations are treated in detail. Derived algorithms to process sensor data and a comprehensive explanation of the error dynamics provide not only an analytical understanding but also a practical implementation of the concepts. A self-contained description of GPS, with emphasis on kinematic applications, is one of the highlights in this book.
The text is of interestto geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing.

Coordinate Frames and Transformationsp. 1
Introductionp. 1
Coordinate Framesp. 3
Inertial Framep. 3
Earth-Centered-Earth-Fixed Framep. 6
Navigation Framep. 6
Transformationsp. 9
Direction Cosinesp. 10
Euler Anglesp. 11
Quaternionsp. 13
Axial Vectorsp. 18
Angular Ratesp. 19
Differential Equation of the Transformationp. 20
Specific Coordinate Transformationsp. 22
Fourier Transformsp. 27
Ordinary Differential Equationsp. 31
Introductionp. 31
Linear Differential Equationsp. 32
General Solution of Linear Differential Equationsp. 33
Homogeneous Solutionp. 35
An Examplep. 38
Fundamental Set of Solutionsp. 39
Particular Solutionp. 40
The Example, Continuedp. 42
Numerical Methodsp. 44
Runge-Kutta Methodsp. 45
Numerical Integration of Functionsp. 50
Inertial Measurement Unitsp. 51
Introductionp. 51
Gyroscopesp. 53
Mechanical Gyroscopesp. 54
SDF Gyrop. 56
Principal Error Termsp. 63
TDF Gyrop. 65
Optical Gyroscopesp. 70
Ring Laser Gyrop. 73
RLG Error Sourcesp. 77
Fiber-Optic Gyrop. 81
FOG Error Sourcesp. 85
Accelerometerp. 86
Accelerations in Non-Intertial Framesp. 89
Force-Rebalance Dynamicsp. 90
Pendulous Accelerometer Examplesp. 93
Vibrating Element Dynamicsp. 96
Error Sourcesp. 99
Intertial Navigation Systemp. 101
Introductionp. 101
Mechanizationsp. 104
Space-Stabilized Mechanizationp. 106
Local-Level Mechanizationp. 106
Schuler Tuningp. 107
Wander Azimuth Mechanizationp. 110
Strapdown Mechanizationp. 112
Numerical Determination of the Transformation Matrixp. 114
A Second-Order Algorithmp. 115
A Third-Order Algorithmp. 118
Specializationsp. 122
Navigation Equationsp. 123
Unified Approachp. 124
Navigation Equations in i-Framep. 126
Navigation Equations in e-Framep. 126
Navigation Equations in n-Framep. 126
Navigation Equations in w-Framep. 131
Numerical Integration of Navigation Equationsp. 134
System Error Dynamicsp. 139
Introductionp. 139
Simplified Analysisp. 140
Linearized Error Equationsp. 147
Error Dynamics Equations in i-Framep. 151
Error Dynamics Equations in e-Framep. 152
Error Dynamics Equations in n-Framep. 153
Approximate Analysisp. 157
Effects of Accelerometer and Gyro Errorsp. 159
Vertical Velocity and Position Error Effectsp. 161
Essential Error Modesp. 162
Stochastic Processes and Error Modelsp. 165
Introductionp. 165
Probability Theoryp. 165
Gaussian Distributionp. 170
Stochastic Processesp. 172
Covariance Functionsp. 173
Power Spectral densityp. 175
Ergodic Processesp. 176
White Noisep. 177
Stochastic Error Modelsp. 179
Random Constantp. 180
Random Walkp. 181
Gauss-Markov Modelp. 182
Gravity Modelsp. 186
Normal Gravity Fieldp. 186
Deterministic Gravity Modelsp. 190
Stochastic Gravity Modelsp. 192
Examples of IMU Error Processesp. 195
Linear Estimationp. 197
Introductionp. 197
Bayesian Estimationp. 199
Optimal Estimation Criteriap. 200
Estimation with Observationsp. 202
A Posteriori Density Functionp. 203
A Posteriori Estimate and Covariancep. 205
Discrete Kalman Filterp. 207
Observation Modelp. 209
Optimal State Vector Estimationp. 210
Predictionp. 212
Filteringp. 213
Smoothingp. 215
Discrete Linear Dynamics Modelp. 220
Modificationsp. 223
Augmented State Vectorp. 223
Closed-Loop Estimationp. 225
A Simple Examplep. 227
Continuous Kalman Filterp. 230
Covariance Functionp. 233
Solution to Matrix Ricatti Equationp. 235
Constant Coefficient Matricesp. 235
No System Process Noisep. 236
No Observationsp. 237
INS Initialization and Alignmentp. 238
Introductionp. 238
Coarse Alignmentp. 240
Fine Alignment and Calibrationp. 243
Acceleration Observationsp. 244
Velocity and Azimuth Observationsp. 246
Kinematic Alignmentp. 252
The Global Positioning System (GPS)p. 255
Introductionp. 255
Global Positioning Systemp. 259
Clocks and Timep. 259
GPS Signalsp. 261
GPS Receiverp. 263
GPS Observablesp. 266
GPS Errorsp. 269
Combinations of Observationsp. 273
Dual-Frequency Pseudorange and Phasep. 275
Single and Double Differencesp. 278
Kinematic Positioningp. 282
Dynamics Modelp. 284
Observation Equationsp. 287
Single-Receiver Casep. 288
Multiple-Receiver Casep. 292
Geodetic Applicationp. 295
Introductionp. 295
Inertial Survey Systemp. 297
Historical Developmentsp. 297
Estimation Methodsp. 300
Models and Observationsp. 300
Parameter Estimationp. 302
Final Adjustmentsp. 303
Typical Resultsp. 305
GPS/INS Integrationp. 306
Integration Modesp. 308
Decentralized Integrationp. 310
Centralized Integrationp. 314
Cycle Ambiguity Determinationp. 318
Moving-Base Gravimetryp. 320
Gravitation from Inertial Positioningp. 323
Gravitation from Accelerometryp. 327
Kalman Filter Approachesp. 330
Scalar Gravimetryp. 334
Referencesp. 336
Indexp. 343
Table of Contents provided by Syndetics. All Rights Reserved.

ISBN: 9783110159035
ISBN-10: 3110159031
Audience: Professional
For Ages: 22+ years old
Format: Hardcover
Language: English
Number Of Pages: 365
Published: 1st January 2001
Country of Publication: DE
Dimensions (cm): 24.38 x 18.03  x 2.49
Weight (kg): 0.74