Global Positioning Systems, Inertial Navigation, and Integration

The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function of model parameters * Implementing the mechanization equations in numerically stable algorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance in operation In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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. An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.

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.

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, 4 th 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.

From stars to terrestrial networks and satellites From outdoors to indoors From ancient to future applications From techniques to technologies . . . The field of radionavigation signals and systems has seen significant growth in recent years. Satellite systems are very efficient, but owing to their limited exposure and/or availability in some environments, they do not cover the whole spectrum of applications. Thus, many other positioning techniques are being developed. Now, Global Positioning presents an overview of the strengths and weaknesses of various systems with a specific emphasis on those that are satellite-based. Beginning with a description of the evolution of positioning systems, the book provides detailed coverage of the three main Global Navigation Satellite System (GNSS) constellations, discusses how to cope with indoor positioning, defines development activities and commercial positioning, and proposes a vision for the future of the field. Special features of the book include: Exercises to test and challenge the reader's understanding Direct comparison between constellations and other positioning systems Mathematical content kept to a minimum in order to maximize accessibility and readability Descriptions of European and U.S. discussions for Galileo Historical aspects and links between the distant past and current systems Footnotes that provide hints and comments to the reader At a time when the positioning domain is experiencing such immense transformation, it is vital to have a solid understanding of the fundamental principles, current tech-nologies, and future improvements that will help estimate the performance and limita-tions of existing systems. Global Positioning fills an important need for professionals and students in a variety of fields who want a complete and authoritative overview of global positioning techniques.

This book addresses the fundamentals and practical implementations of antennas for Global Navigation Satellite Systems (GNSS) In this book, the authors discuss the various aspects of GNSS antennas, including fundamentals of GNSS, design approaches for the GNSS terminal and satellite antennas, performance enhancement techniques and effects of user’s presence and surrounding environment on these antennas. In addition, the book will provide the reader with an insight into the most important aspects of the GNSS antenna technology and lay the foundations for future advancements. It also includes a number of real case studies describing the ways in which antenna design can be adapted to conform to the design constraints of practical user devices, and also the management of potential adverse interactions between the antenna and its platform. Key Features: Covers the fundamentals and practical implementations of antennas for Global Navigation Satellite Systems (GNSS) Describes technological advancements for GPS, Glonass, Galileo and Compass Aims to address future issues such as multipath interference, in building operation, RF interference in mobile Includes a number of real case studies to illustrate practical implementation of GNSS This book will be an invaluable guide for antenna designers, system engineers, researchers for GNSS systems and postgraduate students (antennas, satellite communication technology). R&D engineers in mobile handset manufacturers, spectrum engineers will also find this book of interest.

Positioning in Wireless Communications Systems explains the principal differences and similarities of wireless communications systems and navigation systems. It discusses scenarios which are critical for dedicated navigation systems such as the Global Positioning System (GPS) and which motivate the use of positioning based on terrestrial wireless communication systems. The book introduces approaches for determination of parameters which are dependent on the position of the mobile terminal and also discusses iterative algorithms to estimate and track the position of the mobile terminal. Models for radio propagation and user mobility are important for performance investigations and assessments using computer simulations. Thus, channel and mobility models are explored, especially focussing on critical navigation environments like urban or indoor scenarios. Positioning in Wireless Communications Systems examines advanced algorithms such as hybrid data fusion of satellite navigation and positioning with wireless communications and cooperative positioning among mobile terminals.. The performance of the discussed positioning techniques are explored on the basis of already existing and operable terrestrial wireless communication systems such as GSM, UMTS, or LTE and it is shown how positioning issues are fixed in respective standards. Written by industry experts working at the cutting edge of technological development, the authors are well placed to give an excellent view on this topic, enabling in-depth coverage of current developments. Key features • Unique in its approach to dealing with a heterogeneous system approach, different cell structures and signal proposals for future communications systems • Covers hybrid positioning investigating how GNSS and wireless communications positioning complement each other • Applications and exploitation of positioning information are discussed to show the benefits of including this information in several parts of a wireless communications system

Compiled by leading authorities, Aerospace Navigation Systems is a compendium of chapters that present modern aircraft and spacecraft navigation methods based on up-to-date inertial, satellite, map matching and other guidance techniques. Ranging from the practical to the theoretical, this book covers navigational applications over a wide range of aerospace vehicles including aircraft, spacecraft and drones, both remotely controlled and operating as autonomous vehicles. It provides a comprehensive background of fundamental theory, the utilisation of newly-developed techniques, incorporates the most complex and advanced types of technical innovation currently available and presents a vision for future developments. Satellite Navigation Systems (SNS), long range navigation systems, short range navigation systems and navigational displays are introduced, and many other detailed topics include Radio Navigation Systems (RNS), Inertial Navigation Systems (INS), Homing Systems, Map Matching and other correlated-extremalsystems, and both optimal and sub-optimal filtering in integrated navigation systems.

The concrete tools manufacturing enterprises need to thrive in today's global environment For a manufacturing enterprise to succeed in this current volatile economic environment, a revolution is needed in restructuring its three main components: product design, manufacturing, and business model. The Global Manufacturing Revolution is the first book to focus on these issues. Based on the author's long-standing course work at the University of Michigan, this unique volume proposes new technologies and new business strategies that can increase an enterprise's speed of responsiveness to volatile markets, as well as enhance the integration of its own engineering and business. Introduced here are innovations to the entire manufacturing culture: An original approach to the analysis of manufacturing paradigms Suggested methods for developing creativity in product design A quantitative analysis of manufacturing system configurations A new manufacturing «reconfigurable» paradigm, in which the speed of responsiveness is the prime business goal An original approach to using information technology for workforce empowerment The book also offers analysis and original models of previous manufacturing paradigms' technical and business dimensions—including mass production and mass customization—in order to fully explain the current revolution in global manufacturing enterprises. In addition, 200 original illustrations and pictures help to clarify the topics. Globalization is creating both opportunities and challenges for companies that manufacture durable goods. The tools, theories, and case studies in this volume will be invaluable to engineers pursuing leadership careers in the manufacturing industry, as well as to leaders of global enterprises and business students who are motivated to lead manufacturing enterprises and ensure their growth.

The powertrain is at the heart of vehicle design; the engine – whether it is a conventional, hybrid or electric design – provides the motive power, which is then managed and controlled through the transmission and final drive components. The overall powertrain system therefore defines the dynamic performance and character of the vehicle. The design of the powertrain has conventionally been tackled by analyzing each of the subsystems individually and the individual components, for example, engine, transmission and driveline have received considerable attention in textbooks over the past decades. The key theme of this book is to take a systems approach – to look at the integration of the components so that the whole powertrain system meets the demands of overall energy efficiency and good drivability. Vehicle Powertrain Systems provides a thorough description and analysis of all the powertrain components and then treats them together so that the overall performance of the vehicle can be understood and calculated. The text is well supported by practical problems and worked examples. Extensive use is made of the MATLAB(R) software and many example programmes for vehicle calculations are provided in the text. Key features: Structured approach to explaining the fundamentals of powertrain engineering Integration of powertrain components into overall vehicle design Emphasis on practical vehicle design issues Extensive use of practical problems and worked examples Provision of MATLAB(R) programmes for the reader to use in vehicle performance calculations This comprehensive and integrated analysis of vehicle powertrain engineering provides an invaluable resource for undergraduate and postgraduate automotive engineering students and is a useful reference for practicing engineers in the vehicle industry

Global Positioning System is the first book to guide social scientists with little or no mapping or GPS experience through the process of collecting field data from start to finish. Takes readers step-by-step through the key stages of a GPS fieldwork project. Explains complex background topics in clear, easy-to-understand language. Provides simple guidelines for GPS equipment selection. Provides practical solutions for real GPS data collection issues. Offers a concise guide to using GPS-collected data within geographic information systems.