Fundamentals of high accuracy inertial navigation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Reston, Va.
American Inst. of Aeronautics and Astronautics
1997
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| Ausgabe: | 2. printing |
| Schriftenreihe: | Progress in astronautics and aeronautics
174 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturangaben |
| Beschreibung: | XIV, 339 S. graph. Darst. |
| ISBN: | 1563472430 |
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Datensatz im Suchindex
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| adam_text | FUNDAMENTALS OF HIGH ACCURACY INERTIAL NAVIGATION AVERIL B. CHATFIELD
VOLUME 174 PROGRESS IN ASTRONAUTICS AND AERONAUTICS PAUL ZARCHAN,
EDITOR-IN-CHIEF CHARLES STARK DRAPER LABORATORY, INC. CAMBRIDGE,
MASSACHUSETTS PUBLISHED BY THE AMERICAN INSTITUTE OF AERONAUTICS AND
ASTRONAUTICS, INC. 1801 ALEXANDER BELL DRIVE, RESTON, VIRGINIA
20191-4344 TABLE OF CONTENTS PREFACE XIII CHAPTER 1. INTRODUCTION 1 I.
FORCES PRODUCING MOTION 1 A. GRAVITATION 1 B. INERTIA 2 II. INERTIAL
EQUIVALENCE OF EARTH-CENTERED FRAME 3 III. FUNDAMENTAL EQUATION OF
INERTIAL NAVIGATION 4 IV. DESCRIPTION OF AN INERTIAL NAVIGATION SYSTEM 5
V. INERTIAL MEASUREMENTS 5 VI. FOUR PHASES OF INERTIAL NAVIGATION 6 VII.
ROLE OF GEODESY 7 VIII. REFERENCE EARTH MODEL 7 PART I INERTIAL
NAVIGATION CHAPTER 2. NOTATION, COORDINATE SYSTEMS, AND UNITS 15 I.
NOTATION CONVENTIONS 15 II. COORDINATE SYSTEM DEFINITIONS 18 A. SOFTWARE
IMPLEMENTED 18 B. HARDWARE IMPLEMENTED 22 III. COORDINATE TRANSFORMATION
CHARACTERISTICS 23 A. ORTHOGONAL 23 B. NONORTHOGONAL 25 IV. COMMONLY
USED COORDINATE ROTATIONS 30 A. EARTH-CENTERED INERTIAL TO
EARTH-CENTERED EARTH-FIXED 30 B. EARTH-CENTERED INERTIAL TO LOCAL
GEODETIC VERTICAL 31 C. EARTH-CENTERED INERTIAL TO LOCAL GEOCENTRIC
VERTICAL 31 D. EARTH-CENTERED EARTH-FIXED TO LOCAL GEODETIC VERTICAL 31
E. EARTH-CENTERED EARTH-FIXED TO LOCARASTRONOMIC VERTICAL 31 F. STAR
LINE-OF-SIGHT TO PLATFORM 31 G. STAR TO EARTH-CENTERED INERTIAL 32 V.
UNITS 32 CHAPTER 3. EQUATIONS OF MOTION IN A CENTRAL FORCE GRAVITY FIELD
.... 33 I. MOTION IN INERTIAL COORDINATES WITH ZERO-SPECIFIC FORCE . 33
A. ZERO-SPECIFIC FORCE /. 34 B. SCHULER FREQUENCY . . . 36 II.
STATE-SPACE FORM 37 A. LAPLACE TRANSFORM FORM 38 B. FREQUENCY RESPONSE
39 VII III. MOTION IN INERTIAL COMPUTATION COORDINATES D .... 40 A.
TRANSFER FUNCTIONS 40 B. PROPAGATION OF INITIAL STATE 41 C. FREQUENCY
RESPONSE FUNCTIONS 41 IV. MOTION IN EARTH-FIXED COMPUTATION COORDINATES
43 A. SIGNIFICANCE OF TERMS IN EQUATION OF MOTION 44 B. TRANSFER
FUNCTIONS 44 C. PROPAGATION OF INITIAL STATE 46 D. FREQUENCY RESPONSE
FUNCTIONS 49 V. EFFECT OF VELOCITY DAMPING 53 A. PROPAGATION OF INITIAL
STATE 53 B. FREQUENCY RESPONSE FUNCTIONS 55 CHAPTER 4. INERTIAL
INSTRUMENTATION 59 I. GYROSCOPE 59 A. ROTATING WHEEL 60 B. OPTICAL 64 C.
RECENTLY DEVELOPED INSTRUMENTS 67 II. ACCELEROMETER 68 A. PENDULOUS
INTEGRATING GYRO 68 B. PROOF MASS 69 C. VIBRATING STRING 70 D. FIBER
OPTIC 71 III. GRADIOMETER 71 A. GRAVITY GRADIENT TENSOR 71 B. OUTPUT
EQUATIONS 72 C. OUTPUT EQUATION PROCESSING 74 IV. GIMBAL CONFIGURATIONS
75 A. MECHANICAL FRAME 75 B. FLOATING SPHERE 75 V. STRAPDOWN
CONFIGURATION 76 CHAPTER 5. CALIBRATION 79 I. PHYSICAL REFERENCE VECTORS
79 A. SPECIFIC FORCE 79 B. ANGULAR RATE 81 II. CALIBRATION PROCEDURE 82
A. INERTIAL MEASUREMENT UNIT CONFIGURATION 82 B. PLATFORM ROTATION
SCHEDULE 83 III. ACCELEROMETER CALIBRATION 87 A. OBSERVATION EQUATION 87
B. APPLICATION OF THE OBSERVATION EQUATION 90 IV. GYRO CALIBRATION 93 A.
OBSERVATION EQUATION*MAGNITUDE FORM 93 B. OBSERVATION EQUATION*VECTOR
FORM 99 CHAPTER 6. INITIAL ALIGNMENT AND ATTITUDE COMPUTATION 109 I.
INITIAL ALIGNMENT 109 A. ANALYTICAL COARSE ALIGNMENT 110 B. ALIGNING AN
IMU STABLE PLATFORM TO LGV COORDINATES 115 VIII C. ALIGNING A STRAPDOWN
SYSTEM TO LGV COORDINATES 117 II. ATTITUDE 120 A. PLATFORM TO
EARTH-CENTERED INTERTIAL 120 B. PLATFORM TO LOCAL ASTRONOMIC VERTICAL
123 C. ~BODY-TO-EARTH-CENTERED-INERTIAL USING QUATERNIONS 123 D.
ROTATING A VECTOR USING QUATERNIONS 126 CHAPER 7. GEODETIC VARIABLES AND
CONSTANTS 129 I. METHOD OF DERIVING VALUES FOR THE GEODETIC VARIABLES
AND CONSTANTS .... 129 A. APPARENT GRAVITY MAGNITUDE 129 B. ASTRONOMIC
COORDINATES 132 C. GEOCENTRIC GRAVITATIONAL CONSTANT 134 D. SEMIMAJOR
AXIS, FLATTENING, AND SHCS 134 E. EARTH ROTATION RATE 134 F. POLE
LOCATION 134 G. GEODETIC COORDINATES 135 H. GEOID HEIGHT 136 I. HEIGHT
ABOVE MEAN SEA LEVEL 136 II. WORLD GEODETIC SYSTEM 1984 137 A. SPHERICAL
HARMONIC COEFFICIENTS 137 B. EQUIPOTENTIAL SURFACES ASSOCIATED WITH SHCS
139 C. PHYSICAL MEANING OF THE LOW DEGREE AND ORDER SHCS 140 D. REGIONAL
DATUM TRANSFORMATIONS 142 III. GRAVITY MODELS 143 A. SPHERICAL HARMONIC
143 B. POINT MASS 145 C. TWO-DIMENSIONAL FOURIER SERIES 148 D.
TWO-DIMENSIONAL TABLE 148 E. OTHER TYPES OF MODELS 149 IV. USEFUL
INCREMENTAL TERMS OF GEODESY 149 A. DEFLECTIONS OF THE VERTICAL 149 B.
AZIMUTH DIFFERENCES 149 V. EXTENDING GRAVITY SURVEYS WITH INTERTIAL
MEASUREMENTS 149 CHAPTER 8. EQUATIONS OF MOTION WITH GENERAL GRAVITY
MODEL 153 I. STATE-SPACE FORM IN EARTH-CENTERED INERTIAL COORDINATES 153
II. STATE-SPACE FORM IN EARTH-CENTERED EARTH-FIXED COORDINATES 156 III.
STATE-SPACE FORM IN EARTH-CENTERED EARTH-FIXED COORDINATES WITH
POINT-MASS GRAVITY MODEL 156 IV. STATE-SPACE FORM IN LOCAL GEODETIC
VERTICAL COORDINATES 158 A. STANDARD FORM 158 B. PSEUDO-VELOCITY FORM
162 V. PLATFORM CONTROL LAWS 163 A. EARTH-CENTERED INERTIAL 163 B.
EARTH-CENTERED EARTH-FIXED 163 C. LOCAL GEODETIC VERTICAL*TORQUED
AZIMUTH 163 D. LOCAL GEODETIC VERTICAL*FREE AZIMUTH 164 E. LOCAL
GEODETIC VERTICAL*PLATFORM CAROUSEL 164 F. LOCAL GEODETIC
VERTICAL*PLATFORM TUMBLE 164 VI. INTEGRATION OF THE EQUATIONS OF MOTION
165 IX VII. SUMMARY OF EQUATIONS FOR COMPUTING THE TRANSITION MATRIX 166
A. EARTH-CENTERED INERTIAL COORDINATES*STABILIZED PLATFORM 166 B.
EARTH-CENTERED EARTH-FIXED COORDINATES*STABILIZED PLATFORM ..... 168 C.
LOCAL GEODETIC VERTICAL COORDINATES*STANDARD FORM*STABILIZED PLATFORM
169 D. LOCAL GEODETIC VERTICAL COORDINATES*PSEUDO-VELOCITY
FORM*STABILIZED PLATFORM 171 E. EARTH-CENTERED INERTIAL
COORDINATES*STRAPDOWN 172 F. EARTH-CENTERED EARTH-FIXED
COORDINATES*STRAPDOWN 174 G. LOCAL GEODETIC VERTICAL
COORDINATES*STANDARD FORM*STRAPDOWN.. 175 H. LOCAL GEODETIC VERTICAL
COORDINATES*PSEUDO-VELOCITY FORM*STRAPDOWN 177 PART II INERTIAL
NAVIGATION WITH AIDS CHAPTER 9. INERTIAL NAVIGATION WITH EXTERNAL
MEASUREMENTS 181 I. BASIS FOR USING EXTERNAL MEASUREMENTS 181 A.
EQUATIONS OF RELATIVE MOTION 182 B. APPLICATION OF THE EQUATIONS OF
RELATIVE MOTION 184 II. KALMAN FILTER STATE UPDATES 188 A. OVERVIEW OF
NAVIGATION COMPUTATIONS*EXTENDED KALMAN FILTER ... 189 B. GAIN
EVALUATION AND COVARIANCE UPDATE 191 C. COVARIANCE PROPAGATION 192 D.
SUMMARY OF NAVIGATION EQUATIONS*EXTENDED KALMAN FILTER 194 E. SUMMARY OF
NAVIGATION EQUATIONS*LINEARIZED KALMAN FILTER 194 F. EXAMPLES OF
EXTERNAL MEASUREMENT PREDICTIONS 196 G. EXAMPLES OF PARTIAL DERIVATIVE
EVALUATIONS 201 H. EXAMPLE OF A SUBOPTIMAL FILTER 205 I. ALIASING 207
CHAPTER 10. ERROR EQUATIONS FOR THE KALMAN FILTER 211 I. ATTITUDE ERRORS
211 A. DEFINITIONS 211 B. ANGULAR EQUIVALENT OF THE POSITION ERROR 212
C. ACTUAL COORDINATE ROTATIONS IN TERMS OF ERRORS 214 D. ATTITUDE ERROR
VECTOR DIFFERENTIAL EQUATIONS 214 II. SYSTEM DYNAMIC AND ERROR
DISTRIBUTION MATRICES IN EARTH-CENTERED INERTIAL COORDINATES 215 A.
ACCELERATION*EARTH-CENTERED INERTIAL COORDINATES 215 B.
VELOCITY*EARTH-CENTERED INERTIAL COORDINATES 218 C. STATE-SPACE FORM OF
ERROR EQUATIONS*EARTH-CENTERED INERTIAL COORDINATES 218 III. SYSTEM
DYNAMIC AND ERROR DISTRIBUTION MATRICES IN EARTH-CENTERED EARTH-FIXED
COORDINATES 219 A. ACCELERATION-R-EARTH-CENTERED EARTH-FIXED COORDINATES
219 B. VELOCITY*EARTH-CENTERED EARTH-FIXED COORDINATES 220 C.
STATE-SPACE FORM OF ERROR EQUATIONS*EARTH-CENTERED EARTH-FIXED
COORDINATES 220 IV. SYSTEM DYNAMIC AND ERROR DISTRIBUTION MATRICES IN
LOCAL GEODETIC VERTICAL COORDINATES 221 A. SEMIPOSITION ERROR DEFINITION
221 B. SEMIVELOCITY ERROR DEFINITION 221 C. ACCELERATION*LOCAL GEODETIC
VERTICAL COORDINATES 222 D. VELOCITY*LOCAL GEODETIC VERTICAL COORDINATES
224 E. STATE-SPACE FORM OF ERROR EQUATIONS*LOCAL GEODETIC VERTICAL
COORDINATES 225 CHAPTER 11. STATE VARIABLE ERROR MODELS 227 I. INERTIAL
AND EXTERNAL MEASUREMENT EQUIPMENT ERROR SHAPING FUNCTIONS . . 227 A.
RANDOM CONSTANT 228 B. RANDOM WALK 228 C. RANDOM RAMP 228 D. MARKOV 229
II. OMISSION GRAVITY MODEL ERROR SHAPING FUNCTIONS 229 A. GRAVITY
DATABASE FORMAT 229 B. GRAVITY MODEL ERROR EQUATIONS OF MOTION 230 C.
AUTOCORRELATION FUNCTION APPROXIMATION METHOD 232 D. INFLUENCE OF
VEHICLE VELOCITY ON THE POWER SPECTRAL DENSITY 235 E. AUTOREGRESSIVE
MOVING AVERAGE METHOD 237 PART III ACCURACY ANALYSIS CHAPTER 12.
ACCURACY CRITERIA AND ANALYSIS TECHNIQUES 253 I. CENTRAL LIMIT THEOREM
253 II. STANDARD ERROR 254 A. UNCORRELATED STANDARD ERRORS FOR
CIRCULAR-ERROR-PROBABLE CALCULATION 254 B. UNCORRELATED STANDARD ERRORS
FOR SPHERICAL-ERROR-PROBABLE CALCULATION 255 III. GAUSSIAN DISTRIBUTION
FUNCTION FOR NAVIGATION POSITION ERRORS 257 -IV. CIRCULAR ERROR PROBABLE
AND SPHERICAL ERROR PROBABLE 257 A. CEP FOR EQUAL STANDARD ERRORS AND
ZERO MEANS 257 B. SEP FOR EQUAL STANDARD ERRORS AND ZERO MEANS 259 C.
CEP AND SEP FOR UNEQUAL STANDARD ERRORS AND NONZERO MEANS .... 260 D.
VERIFICATION OF THE CEP AND SEP FORMULAS 264 V. ACCURACY ANALYSIS
TECHNIQUES .....* 267 A. TYPES OF ERROR 267 B. ERROR ANALYSIS USING
SENSITIVITY COEFFICIENTS 271 CHAPTER 13. ERROR EQUATIONS FOR
CALIBRATION, ALIGNMENT, AND INITIALIZATION 273 I. INERTIAL INSTRUMENT
CALIBRATION 273 A. APPARENT GRAVITY MAGNITUDE 274 B. REFERENCE ROTATION
RATE 277 C. POLE LOCATION 278 II. ANALYTICAL ALIGNMENT 279 A. ASTRONOMIC
COORDINATES 283 XI B. GEODETIC COORDINATES 284 C. SPECIFIC FORCE AND
POLE POSITION 285 III. INITIALIZATION 286 A. INITIAL VELOCITY 286 B.
INITIAL POSITION 287 C. CONVERSION TO EARTH-CENTERED INERTIAL AND LOCAL
GEODETIC VERTICAL COORDINATES 288 IV. KALMAN FILTER COVARIANCE
INITIALIZATION 288 CHAPTER 14. EVALUATION OF GRAVITY MODEL ERROR EFFECTS
291 I. SPHERICAL HARMONIC GRAVITY MODEL ERRORS 292 II. POINT-MASS MODEL
GENERATION 293 III. SOURCES OF ERROR FOR POINT-MASS MODEL . . : 294 A.
REPRESENTATION 295 B. REDUCTION 295 C. OMISSION 303 APPENDIX A. MATRIX
INVERSE FORMULAS 305 APPENDIX B. LAPLACE TRANSFORMS 307 APPENDIX C.
QUATERNIONS 311 APPENDIX D. ASSOCIATED LEGENDRE FUNCTIONS 313 APPENDIX
E. ASSOCIATED LEGENDRE FUNCTION DERIVATIVES 315 APPENDIX F. PROCEDURE
FOR GENERATING GRAVITY DISTURBANCE REALIZATIONS 317 APPENDIX G.
PROCEDURE FOR GENERATING SPECIFIC FORCE PROFILE 321 INDEX 325 XII
|
| adam_txt |
FUNDAMENTALS OF HIGH ACCURACY INERTIAL NAVIGATION AVERIL B. CHATFIELD
VOLUME 174 PROGRESS IN ASTRONAUTICS AND AERONAUTICS PAUL ZARCHAN,
EDITOR-IN-CHIEF CHARLES STARK DRAPER LABORATORY, INC. CAMBRIDGE,
MASSACHUSETTS PUBLISHED BY THE AMERICAN INSTITUTE OF AERONAUTICS AND
ASTRONAUTICS, INC. 1801 ALEXANDER BELL DRIVE, RESTON, VIRGINIA
20191-4344 TABLE OF CONTENTS PREFACE XIII CHAPTER 1. INTRODUCTION 1 I.
FORCES PRODUCING MOTION 1 A. GRAVITATION 1 B. INERTIA 2 II. INERTIAL
EQUIVALENCE OF EARTH-CENTERED FRAME 3 III. FUNDAMENTAL EQUATION OF
INERTIAL NAVIGATION 4 IV. DESCRIPTION OF AN INERTIAL NAVIGATION SYSTEM 5
V. INERTIAL MEASUREMENTS 5 VI. FOUR PHASES OF INERTIAL NAVIGATION 6 VII.
ROLE OF GEODESY 7 VIII. REFERENCE EARTH MODEL 7 PART I INERTIAL
NAVIGATION CHAPTER 2. NOTATION, COORDINATE SYSTEMS, AND UNITS 15 I.
NOTATION CONVENTIONS 15 II. COORDINATE SYSTEM DEFINITIONS 18 A. SOFTWARE
IMPLEMENTED 18 B. HARDWARE IMPLEMENTED 22 III. COORDINATE TRANSFORMATION
CHARACTERISTICS 23 A. ORTHOGONAL 23 B. NONORTHOGONAL 25 IV. COMMONLY
USED COORDINATE ROTATIONS 30 A. EARTH-CENTERED INERTIAL TO
EARTH-CENTERED EARTH-FIXED 30 B. EARTH-CENTERED INERTIAL TO LOCAL
GEODETIC VERTICAL 31 C. EARTH-CENTERED INERTIAL TO LOCAL GEOCENTRIC
VERTICAL 31 D. EARTH-CENTERED EARTH-FIXED TO LOCAL GEODETIC VERTICAL 31
E. EARTH-CENTERED EARTH-FIXED TO LOCARASTRONOMIC VERTICAL 31 F. STAR
LINE-OF-SIGHT TO PLATFORM 31 G. STAR TO EARTH-CENTERED INERTIAL 32 V.
UNITS 32 CHAPTER 3. EQUATIONS OF MOTION IN A CENTRAL FORCE GRAVITY FIELD
. 33 I. MOTION IN INERTIAL COORDINATES WITH ZERO-SPECIFIC FORCE . 33
A. ZERO-SPECIFIC FORCE /. 34 B. SCHULER FREQUENCY . . . 36 II.
STATE-SPACE FORM 37 A. LAPLACE TRANSFORM FORM 38 B. FREQUENCY RESPONSE
39 VII III. MOTION IN INERTIAL COMPUTATION COORDINATES D . 40 A.
TRANSFER FUNCTIONS 40 B. PROPAGATION OF INITIAL STATE 41 C. FREQUENCY
RESPONSE FUNCTIONS 41 IV. MOTION IN EARTH-FIXED COMPUTATION COORDINATES
43 A. SIGNIFICANCE OF TERMS IN EQUATION OF MOTION 44 B. TRANSFER
FUNCTIONS 44 C. PROPAGATION OF INITIAL STATE 46 D. FREQUENCY RESPONSE
FUNCTIONS 49 V. EFFECT OF VELOCITY DAMPING 53 A. PROPAGATION OF INITIAL
STATE 53 B. FREQUENCY RESPONSE FUNCTIONS 55 CHAPTER 4. INERTIAL
INSTRUMENTATION 59 I. GYROSCOPE 59 A. ROTATING WHEEL 60 B. OPTICAL 64 C.
RECENTLY DEVELOPED INSTRUMENTS 67 II. ACCELEROMETER 68 A. PENDULOUS
INTEGRATING GYRO 68 B. PROOF MASS 69 C. VIBRATING STRING 70 D. FIBER
OPTIC 71 III. GRADIOMETER 71 A. GRAVITY GRADIENT TENSOR 71 B. OUTPUT
EQUATIONS 72 C. OUTPUT EQUATION PROCESSING 74 IV. GIMBAL CONFIGURATIONS
75 A. MECHANICAL FRAME 75 B. FLOATING SPHERE 75 V. STRAPDOWN
CONFIGURATION 76 CHAPTER 5. CALIBRATION 79 I. PHYSICAL REFERENCE VECTORS
79 A. SPECIFIC FORCE 79 B. ANGULAR RATE 81 II. CALIBRATION PROCEDURE 82
A. INERTIAL MEASUREMENT UNIT CONFIGURATION 82 B. PLATFORM ROTATION
SCHEDULE 83 III. ACCELEROMETER CALIBRATION 87 A. OBSERVATION EQUATION 87
B. APPLICATION OF THE OBSERVATION EQUATION 90 IV. GYRO CALIBRATION 93 A.
OBSERVATION EQUATION*MAGNITUDE FORM 93 B. OBSERVATION EQUATION*VECTOR
FORM 99 CHAPTER 6. INITIAL ALIGNMENT AND ATTITUDE COMPUTATION 109 I.
INITIAL ALIGNMENT 109 A. ANALYTICAL COARSE ALIGNMENT 110 B. ALIGNING AN
IMU STABLE PLATFORM TO LGV COORDINATES 115 VIII C. ALIGNING A STRAPDOWN
SYSTEM TO LGV COORDINATES 117 II. ATTITUDE 120 A. PLATFORM TO
EARTH-CENTERED INTERTIAL 120 B. PLATFORM TO LOCAL ASTRONOMIC VERTICAL
123 C. ~BODY-TO-EARTH-CENTERED-INERTIAL USING QUATERNIONS 123 D.
ROTATING A VECTOR USING QUATERNIONS 126 CHAPER 7. GEODETIC VARIABLES AND
CONSTANTS 129 I. METHOD OF DERIVING VALUES FOR THE GEODETIC VARIABLES
AND CONSTANTS . 129 A. APPARENT GRAVITY MAGNITUDE 129 B. ASTRONOMIC
COORDINATES 132 C. GEOCENTRIC GRAVITATIONAL CONSTANT 134 D. SEMIMAJOR
AXIS, FLATTENING, AND SHCS 134 E. EARTH ROTATION RATE 134 F. POLE
LOCATION 134 G. GEODETIC COORDINATES 135 H. GEOID HEIGHT 136 I. HEIGHT
ABOVE MEAN SEA LEVEL 136 II. WORLD GEODETIC SYSTEM 1984 137 A. SPHERICAL
HARMONIC COEFFICIENTS 137 B. EQUIPOTENTIAL SURFACES ASSOCIATED WITH SHCS
139 C. PHYSICAL MEANING OF THE LOW DEGREE AND ORDER SHCS 140 D. REGIONAL
DATUM TRANSFORMATIONS 142 III. GRAVITY MODELS 143 A. SPHERICAL HARMONIC
143 B. POINT MASS 145 C. TWO-DIMENSIONAL FOURIER SERIES 148 D.
TWO-DIMENSIONAL TABLE 148 E. OTHER TYPES OF MODELS 149 IV. USEFUL
INCREMENTAL TERMS OF GEODESY 149 A. DEFLECTIONS OF THE VERTICAL 149 B.
AZIMUTH DIFFERENCES 149 V. EXTENDING GRAVITY SURVEYS WITH INTERTIAL
MEASUREMENTS 149 CHAPTER 8. EQUATIONS OF MOTION WITH GENERAL GRAVITY
MODEL 153 I. STATE-SPACE FORM IN EARTH-CENTERED INERTIAL COORDINATES 153
II. STATE-SPACE FORM IN EARTH-CENTERED EARTH-FIXED COORDINATES 156 III.
STATE-SPACE FORM IN EARTH-CENTERED EARTH-FIXED COORDINATES WITH
POINT-MASS GRAVITY MODEL 156 IV. STATE-SPACE FORM IN LOCAL GEODETIC
VERTICAL COORDINATES 158 A. STANDARD FORM 158 B. PSEUDO-VELOCITY FORM
162 V. PLATFORM CONTROL LAWS 163 A. EARTH-CENTERED INERTIAL 163 B.
EARTH-CENTERED EARTH-FIXED 163 C. LOCAL GEODETIC VERTICAL*TORQUED
AZIMUTH 163 D. LOCAL GEODETIC VERTICAL*FREE AZIMUTH 164 E. LOCAL
GEODETIC VERTICAL*PLATFORM CAROUSEL 164 F. LOCAL GEODETIC
VERTICAL*PLATFORM TUMBLE 164 VI. INTEGRATION OF THE EQUATIONS OF MOTION
165 IX VII. SUMMARY OF EQUATIONS FOR COMPUTING THE TRANSITION MATRIX 166
A. EARTH-CENTERED INERTIAL COORDINATES*STABILIZED PLATFORM 166 B.
EARTH-CENTERED EARTH-FIXED COORDINATES*STABILIZED PLATFORM . 168 C.
LOCAL GEODETIC VERTICAL COORDINATES*STANDARD FORM*STABILIZED PLATFORM
169 D. LOCAL GEODETIC VERTICAL COORDINATES*PSEUDO-VELOCITY
FORM*STABILIZED PLATFORM 171 E. EARTH-CENTERED INERTIAL
COORDINATES*STRAPDOWN 172 F. EARTH-CENTERED EARTH-FIXED
COORDINATES*STRAPDOWN 174 G. LOCAL GEODETIC VERTICAL
COORDINATES*STANDARD FORM*STRAPDOWN. 175 H. LOCAL GEODETIC VERTICAL
COORDINATES*PSEUDO-VELOCITY FORM*STRAPDOWN 177 PART II INERTIAL
NAVIGATION WITH AIDS CHAPTER 9. INERTIAL NAVIGATION WITH EXTERNAL
MEASUREMENTS 181 I. BASIS FOR USING EXTERNAL MEASUREMENTS 181 A.
EQUATIONS OF RELATIVE MOTION 182 B. APPLICATION OF THE EQUATIONS OF
RELATIVE MOTION 184 II. KALMAN FILTER STATE UPDATES 188 A. OVERVIEW OF
NAVIGATION COMPUTATIONS*EXTENDED KALMAN FILTER . 189 B. GAIN
EVALUATION AND COVARIANCE UPDATE 191 C. COVARIANCE PROPAGATION 192 D.
SUMMARY OF NAVIGATION EQUATIONS*EXTENDED KALMAN FILTER 194 E. SUMMARY OF
NAVIGATION EQUATIONS*LINEARIZED KALMAN FILTER 194 F. EXAMPLES OF
EXTERNAL MEASUREMENT PREDICTIONS 196 G. EXAMPLES OF PARTIAL DERIVATIVE
EVALUATIONS 201 H. EXAMPLE OF A SUBOPTIMAL FILTER 205 I. ALIASING 207
CHAPTER 10. ERROR EQUATIONS FOR THE KALMAN FILTER 211 I. ATTITUDE ERRORS
211 A. DEFINITIONS 211 B. ANGULAR EQUIVALENT OF THE POSITION ERROR 212
C. ACTUAL COORDINATE ROTATIONS IN TERMS OF ERRORS 214 D. ATTITUDE ERROR
VECTOR DIFFERENTIAL EQUATIONS 214 II. SYSTEM DYNAMIC AND ERROR
DISTRIBUTION MATRICES IN EARTH-CENTERED INERTIAL COORDINATES 215 A.
ACCELERATION*EARTH-CENTERED INERTIAL COORDINATES 215 B.
VELOCITY*EARTH-CENTERED INERTIAL COORDINATES 218 C. STATE-SPACE FORM OF
ERROR EQUATIONS*EARTH-CENTERED INERTIAL COORDINATES 218 III. SYSTEM
DYNAMIC AND ERROR DISTRIBUTION MATRICES IN EARTH-CENTERED EARTH-FIXED
COORDINATES 219 A. ACCELERATION-R-EARTH-CENTERED EARTH-FIXED COORDINATES
219 B. VELOCITY*EARTH-CENTERED EARTH-FIXED COORDINATES 220 C.
STATE-SPACE FORM OF ERROR EQUATIONS*EARTH-CENTERED EARTH-FIXED
COORDINATES ' 220 IV. SYSTEM DYNAMIC AND ERROR DISTRIBUTION MATRICES IN
LOCAL GEODETIC VERTICAL COORDINATES 221 A. SEMIPOSITION ERROR DEFINITION
221 B. SEMIVELOCITY ERROR DEFINITION 221 C. ACCELERATION*LOCAL GEODETIC
VERTICAL COORDINATES 222 D. VELOCITY*LOCAL GEODETIC VERTICAL COORDINATES
224 E. STATE-SPACE FORM OF ERROR EQUATIONS*LOCAL GEODETIC VERTICAL
COORDINATES 225 CHAPTER 11. STATE VARIABLE ERROR MODELS 227 I. INERTIAL
AND EXTERNAL MEASUREMENT EQUIPMENT ERROR SHAPING FUNCTIONS . . 227 A.
RANDOM CONSTANT 228 B. RANDOM WALK 228 C. RANDOM RAMP 228 D. MARKOV 229
II. OMISSION GRAVITY MODEL ERROR SHAPING FUNCTIONS 229 A. GRAVITY
DATABASE FORMAT 229 B. GRAVITY MODEL ERROR EQUATIONS OF MOTION 230 C.
AUTOCORRELATION FUNCTION APPROXIMATION METHOD 232 D. INFLUENCE OF
VEHICLE VELOCITY ON THE POWER SPECTRAL DENSITY 235 E. AUTOREGRESSIVE
MOVING AVERAGE METHOD 237 PART III ACCURACY ANALYSIS CHAPTER 12.
ACCURACY CRITERIA AND ANALYSIS TECHNIQUES 253 I. CENTRAL LIMIT THEOREM
253 II. STANDARD ERROR 254 A. UNCORRELATED STANDARD ERRORS FOR
CIRCULAR-ERROR-PROBABLE CALCULATION 254 B. UNCORRELATED STANDARD ERRORS
FOR SPHERICAL-ERROR-PROBABLE CALCULATION 255 III. GAUSSIAN DISTRIBUTION
FUNCTION FOR NAVIGATION POSITION ERRORS 257 -IV. CIRCULAR ERROR PROBABLE
AND SPHERICAL ERROR PROBABLE 257 A. CEP FOR EQUAL STANDARD ERRORS AND
ZERO MEANS 257 B. SEP FOR EQUAL STANDARD ERRORS AND ZERO MEANS 259 C.
CEP AND SEP FOR UNEQUAL STANDARD ERRORS AND NONZERO MEANS . 260 D.
VERIFICATION OF THE CEP AND SEP FORMULAS 264 V. ACCURACY ANALYSIS
TECHNIQUES .*" 267 A. TYPES OF ERROR 267 B. ERROR ANALYSIS USING
SENSITIVITY COEFFICIENTS 271 CHAPTER 13. ERROR EQUATIONS FOR
CALIBRATION, ALIGNMENT, AND INITIALIZATION 273 I. INERTIAL INSTRUMENT
CALIBRATION 273 A. APPARENT GRAVITY MAGNITUDE 274 B. REFERENCE ROTATION
RATE 277 C. POLE LOCATION 278 II. ANALYTICAL ALIGNMENT 279 A. ASTRONOMIC
COORDINATES 283 XI B. GEODETIC COORDINATES 284 C. SPECIFIC FORCE AND
POLE POSITION 285 III. INITIALIZATION 286 A. INITIAL VELOCITY 286 B.
INITIAL POSITION 287 C. CONVERSION TO EARTH-CENTERED INERTIAL AND LOCAL
GEODETIC VERTICAL COORDINATES 288 IV. KALMAN FILTER COVARIANCE
INITIALIZATION 288 CHAPTER 14. EVALUATION OF GRAVITY MODEL ERROR EFFECTS
291 I. SPHERICAL HARMONIC GRAVITY MODEL ERRORS 292 II. POINT-MASS MODEL
GENERATION 293 III. SOURCES OF ERROR FOR POINT-MASS MODEL . . : 294 A.
REPRESENTATION 295 B. REDUCTION 295 C. OMISSION 303 APPENDIX A. MATRIX
INVERSE FORMULAS 305 APPENDIX B. LAPLACE TRANSFORMS 307 APPENDIX C.
QUATERNIONS 311 APPENDIX D. ASSOCIATED LEGENDRE FUNCTIONS 313 APPENDIX
E. ASSOCIATED LEGENDRE FUNCTION DERIVATIVES 315 APPENDIX F. PROCEDURE
FOR GENERATING GRAVITY DISTURBANCE REALIZATIONS 317 APPENDIX G.
PROCEDURE FOR GENERATING SPECIFIC FORCE PROFILE 321 INDEX 325 XII |
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| illustrated | Illustrated |
| index_date | 2024-07-02T16:19:52Z |
| indexdate | 2024-07-09T20:51:44Z |
| institution | BVB |
| isbn | 1563472430 |
| language | English |
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| publishDate | 1997 |
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| publisher | American Inst. of Aeronautics and Astronautics |
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| series | Progress in astronautics and aeronautics |
| series2 | Progress in astronautics and aeronautics |
| spelling | Chatfield, Averil B. Verfasser aut Fundamentals of high accuracy inertial navigation Averil B. Chatfield 2. printing Reston, Va. American Inst. of Aeronautics and Astronautics 1997 XIV, 339 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Progress in astronautics and aeronautics 174 Literaturangaben Navigation par inertie - Mathématiques Inertial navigation Trägheitsnavigation (DE-588)4185821-9 gnd rswk-swf Trägheitsnavigation (DE-588)4185821-9 s DE-604 Progress in astronautics and aeronautics 174 (DE-604)BV001890233 174 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015385299&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Chatfield, Averil B. Fundamentals of high accuracy inertial navigation Progress in astronautics and aeronautics Navigation par inertie - Mathématiques Inertial navigation Trägheitsnavigation (DE-588)4185821-9 gnd |
| subject_GND | (DE-588)4185821-9 |
| title | Fundamentals of high accuracy inertial navigation |
| title_auth | Fundamentals of high accuracy inertial navigation |
| title_exact_search | Fundamentals of high accuracy inertial navigation |
| title_exact_search_txtP | Fundamentals of high accuracy inertial navigation |
| title_full | Fundamentals of high accuracy inertial navigation Averil B. Chatfield |
| title_fullStr | Fundamentals of high accuracy inertial navigation Averil B. Chatfield |
| title_full_unstemmed | Fundamentals of high accuracy inertial navigation Averil B. Chatfield |
| title_short | Fundamentals of high accuracy inertial navigation |
| title_sort | fundamentals of high accuracy inertial navigation |
| topic | Navigation par inertie - Mathématiques Inertial navigation Trägheitsnavigation (DE-588)4185821-9 gnd |
| topic_facet | Navigation par inertie - Mathématiques Inertial navigation Trägheitsnavigation |
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