Fundamentals of inertial navigation, satellite-based positioning and their integration:
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| Main Authors: | , , |
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| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2013
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| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XVIII, 313 S. graph. Darst. |
| ISBN: | 3642304656 9783642304651 |
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| 245 | 1 | 0 | |a Fundamentals of inertial navigation, satellite-based positioning and their integration |c Aboelmagd Noureldin ; Tashfeen B. Karamat ; Jacques Georgy |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2013 | |
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| 700 | 1 | |a Karamat, Tashfeen B. |e Verfasser |4 aut | |
| 700 | 1 | |a Georgy, Jacques |e Verfasser |4 aut | |
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Record in the Search Index
| _version_ | 1807955021571031040 |
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| adam_text |
IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 GENERAL CLASSIFICATION OF POSITIONING TECHNIQUES 2
1.1.1 TECHNIQUES USING RELATIVE MEASUREMENTS (KNOWN AS DR) 2
1.1.2 TECHNIQUES USING ABSOLUTE MEASUREMENTS (KNOWN AS REFERENCE BASED
SYSTEMS) 2
1.1.3 COMBINED SYSTEMS 4
1.2 GNSS-BASED POSITIONING TECHNIQUES 5
1.2.1 GLOBAL POSITIONING SYSTEM 6
1.3 INTEGRATION O F GPS WITH OTHER SYSTEMS 8
1.3.1 GPS AUGMENTATION SYSTEMS 8
1.3.2 LOCAL WIRELESS-BASED POSITIONING SYSTEMS 9
1.3.3 VEHICLE MOTION SENSORS 11
1.3.4 OTHER AIDING SENSORS 12
1.3.5 DIGITAL MAPS 13
1.4 INERTIAL NAVIGATION 13
1.5 INTEGRATED INS/GPS NAVIGATION 14
1.6 TYPES OF INS/GPS INTEGRATION 15
1.6.1 LOOSELY COUPLED INS/GPS INTEGRATION 16
1.6.2 TIGHTLY COUPLED INS/GPS INTEGRATION 16
1.6.3 ULTRA-TIGHTLY OR DEEPLY COUPLED INTEGRATION 16
1.7 INS/GPS FUSION ALGORITHM 18
1.8 SUMMARY OF THE CHAPTERS 18
REFERENCES 19
2 BASIC NAVIGATIONAL MATHEMATICS, REFERENCE FRAMES AND THE EARTH'S
GEOMETRY 21
2.1 BASIC NAVIGATION MATHEMATICAL TECHNIQUES 21
2.1.1 VECTOR NOTATION 21
2.1.2 VECTOR COORDINATE TRANSFORMATION 22
VII
HTTP://D-NB.INFO/1021714356
IMAGE 2
VIII CONTENTS
2.1.3 ANGULAR VELOCITY VECTORS 23
2.1.4 SKEW-SYMMETRIC MATRIX 23
2.1.5 BASIC OPERATIONS WITH SKEW-SYMMETRIC MATRICES 24
2.1.6 ANGULAR VELOCITY COORDINATE TRANSFORMATIONS 24
2.1.7 LEAST SQUARES METHOD 25
2.1.8 LINEARIZATION OF NON-LINEAR EQUATIONS 26
2.2 COORDINATE FRAMES 27
2.2.1 EARTH-CENTERED INERTIAL FRAME 27
2.2.2 EARTH-CENTERED EARTH-FIXED FRAME 28
2.2.3 LOCAL-LEVEL FRAME 28
2.2.4 WANDER FRAME 29
2.2.5 COMPUTATIONAL FRAME 31
2.2.6 BODY FRAME 31
2.2.7 ORBITAL COORDINATE SYSTEM 32
2.3 COORDINATE TRANSFORMATIONS 33
2.3.1 EULER ANGLES AND ELEMENTARY ROTATIONAL MATRICES 34
2.3.2 TRANSFORMATION BETWEEN ECI AND ECEF 38
2.3.3 TRANSFORMATION BETWEEN LLF AND ECEF 39
2.3.4 TRANSFORMATION BETWEEN LLF AND WANDER FRAME 40
2.3.5 TRANSFORMATION BETWEEN ECEF AND WANDER FRAME . . . . 41 2.3.6
TRANSFORMATION BETWEEN BODY FRAME AND LLF 42
2.3.7 TRANSFORMATION FROM BODY FRAME TO ECEF AND ECI FRAME 43
2.3.8 TIME DERIVATIVE O F THE TRANSFORMATION MATRIX 43
2.3.9 TIME DERIVATIVE OF THE POSITION VECTOR IN THE INERTIAL FRAME 45
2.3.10 TIME DERIVATIVE OF THE VELOCITY VECTOR IN THE INERTIAL FRAME 45
2.4 THE GEOMETRY OF THE EARTH 46
2.4.1 IMPORTANT DEFINITIONS 47
2.4.2 NORMAL AND MERIDIAN RADII 48
2.5 TYPES OF COORDINATES IN THE ECEF FRAME 49
2.5.1 RECTANGULAR COORDINATES IN THE ECEF FRAME 49
2.5.2 GEODETIC COORDINATES IN THE ECEF FRAME 49
2.5.3 CONVERSION FROM GEODETIC TO RECTANGULAR COORDINATES IN THE ECEF
FRAME 50
2.5.4 CONVERSION FROM RECTANGULAR TO GEODETIC COORDINATES IN THE ECEF
FRAME 50
2.6 EARTH GRAVITY 52
REFERENCES 63
IMAGE 3
CONTENTS IX
3 GLOBAL POSITIONING SYSTEM 65
3.1 GPS OBSERVABLES 65
3.1.1 PSEUDO-RANGES MEASUREMENTS 66
3.1.2 CARRIER PHASE MEASUREMENTS 67
3.1.3 DOPPLER MEASUREMENTS 68
3.2 GPS STRUCTURE 69
3.2.1 SPACE SEGMENT 69
3.2.2 CONTROL SEGMENT 69
3.2.3 USER SEGMENT 71
3.3 GPS SIGNALS 71
3.3.1 TRADITIONAL GPS SIGNALS 71
3.3.2 GPS MODERNIZATION 73
3.4 GPS ERROR SOURCES 73
3.4.1 SATELLITE CLOCK ERROR 74
3.4.2 RECEIVER CLOCK ERROR 74
3.4.3 IONOSPHERE DELAY 74
3.4.4 TROPOSPHERIC DELAY 76
3.4.5 MULTIPATH ERRORS I 76
3.4.6 SATELLITE ORBITAL ERRORS 76
3.4.7 RECEIVER NOISE 77
3.4.8 USER EQUIVALENT RANGE ERROR 77
3.5 GPS AUGMENTATION 77
3.5.1 DIFFERENTIAL GPS 79
3.5.2 LOCAL AREA DGPS 79
3.5.3 WIDE AREA DGPS 80
3.5.4 ASSISTED GPS 81
3.6 GPS SATELLITE ORBITS 84
3.6.1 KEPLER'S LAWS 84
3.6.2 KEPLERIAN ORBITAL ELEMENTS 85
3.6.3 GPS ORBITAL PARAMETERS 87
3.7 EPHEMERIS DATA PROCESSING 88
3.7.1 CALCULATION OF SATELLITE CLOCK CORRECTIONS 88
3.7.2 ATMOSPHERIC CORRECTIONS 90
3.7.3 CALCULATION OF SATELLITE POSITION 94
3.7.4 CALCULATION OF SATELLITE VELOCITY 96
3.8 RECEIVER POSITION AND VELOCITY ESTIMATION 97
3.8.-1 PSEUDO-RANGE MEASUREMENTS 97
3.8.2 POSITION ESTIMATION 98
3.8.3 SATELLITE GEOMETRY AND DILUTION OF PRECISION 101
3.8.4 DOPPLER MEASUREMENTS 105
3.8.5 VELOCITY ESTIMATION FROM DOPPLER 106
3.8.6 POSITION AND VELOCITY ESTIMATION 107
IMAGE 4
X CONTENTS
3.9 CARRIER PHASE POSITIONING 109
3.9.1 RELATIVE POSITIONING AND LINEAR COMBINATIONS OF GPS OBSERVABLES
110
3.9.2 RELATIVE POSITIONING I L L
3.9.3 LINEAR COMBINATIONS OF GPS MEASUREMENTS I L L
3.9.4 POSITION ESTIMATION FROM CARRIER PHASE MEASUREMENTS. . 117 3.10
INTEGER AMBIGUITY 119
3.10.1 INTEGER AMBIGUITY RESOLUTION 120
3.10.2 AMBIGUITY DILUTION OF PRECISION 121
REFERENCES 121
4 INERTIAL NAVIGATION SYSTEM 125
4.1 PRINCIPLE OF INERTIAL NAVIGATION 125
4.2 PHYSICAL IMPLEMENTATION OF AN INS 126
4.3 INERTIAL MEASUREMENT UNIT 127
4.4 INERTIAL SENSORS 128
4.4.1 ACCELEROMETERS 129
4.4.2 GYROSCOPES 131
4.5 BASICS OF INERTIAL NAVIGATION 132
4.5.1 NAVIGATION IN ONE DIMENSION 133
4.5.2 NAVIGATION IN TWO DIMENSIONS 133
4.6 NAVIGATION IN THREE DIMENSIONS 136
4.7 OVERVIEW OF AN INERTIAL NAVIGATION SYSTEM IN 3D 137
4.8 THEORETICAL MEASUREMENTS OF THE INERTIAL SENSOR 137
4.8.1 THEORETICAL MEASUREMENTS OF A STATIONARY ACCELEROMETER TRIAD 137
4.8.2 THEORETICAL MEASUREMENTS OF A STATIONARY GYRO TRIAD. . . 139 4.8.3
THEORETICAL MEASUREMENTS OF A MOVING GYRO TRIAD . . . . 141 4.9 NOTES ON
INERTIAL SENSOR MEASUREMENTS 145
4.10 INERTIAL SENSOR PERFORMANCE CHARACTERISTICS 146
4.11 INERTIAL SENSOR ERRORS 146
4.11.1 SYSTEMATIC ERRORS 146
4.11.2 RANDOM ERRORS 149
4.11.3 NOTES ON RANDOM ERRORS 151
4.11.4 MATHEMATICAL MODELS OF INERTIAL SENSOR ERRORS 152
4.12 CLASSIFICATION OF INERTIAL SENSORS 154
4.12.1 GYROSCOPE TECHNOLOGIES AND THEIR APPLICATIONS 155 4.12.2
ACCELEROMETER TECHNOLOGIES AND THEIR APPLICATIONS . . . . 155 4.13
CALIBRATION OF INERTIAL SENSORS 155
4.13.1 SIX-POSITION STATIC TEST 156
4.13.2 ANGLE RATE TESTS 158
4.14 IMPORTANCE OF CALIBRATION OF INERTIAL SENSORS 159
4.14.1 CASE-I: BIAS ERROR IN AN ACCELEROMETER 161
4.14.2 CASE-II: BIAS ERROR IN THE GYROSCOPE 161
IMAGE 5
CONTENTS XI
4.15 INITIALIZATION AND ALIGNMENT OF INERTIAL SENSORS 162
4.15.1 POSITION AND VELOCITY INITIALIZATION 162
4.15.2 ATTITUDE ALIGNMENT 163
REFERENCES 166
5 INERTIAL NAVIGATION SYSTEM MODELING 167
5.1 DYNAMIC MODELING 167
5.2 KINEMATIC MODELING 168
5.2.1 RIGID BODY MOTION MODELING 169
5.2.2 OBSERVABLES 169
5.3 INS MECHANIZATION 170
5.3.1 INS MECHANIZATION IN AN INERTIAL FRAME OF REFERENCE . . . 171
5.3.2 INS MECHANIZATION IN ECEF FRAME 172
5.3.3 INS MECHANIZATION IN THE LOCAL-LEVEL FRAME 174
5.3.4 INS MECHANIZATION IN WANDER FRAME 180
5.4 PARAMETERIZATION OF THE ROTATION MATRIX 183
5.4.1 SOLUTION TO TRANSFORMATION MATRIX 184
5.4.2 QUATERNIONS 186
5.4.3 SOLUTIONS OF THE QUATERNION EQUATION 188
5.4.4 ADVANTAGES OF QUATERNION 189
5.5 STEP BY STEP COMPUTATION OF NAVIGATION PARAMETERS IN THE 1-FRAME 190
5.5.1 RAW MEASUREMENT DATA 193
5.5.2 CORRECTION OF THE MEASUREMENT DATA 194
5.5.3 CALCULATION AND UPDATING OF ROTATION MATRIX 194
5.5.4 ATTITUDE COMPUTATION 196
5.5.5 VELOCITY COMPUTATION 197
5.5.6 POSITION COMPUTATION 198
REFERENCES 199
6 MODELING INS ERRORS BY LINEAR STATE EQUATIONS 201
6.1 LOCAL-LEVEL FRAME ERROR STATE EQUATIONS 202
6.1.1 POSITION ERRORS FOR LOCAL-LEVEL FRAME 203
6.1.2 VELOCITY ERRORS FOR LOCAL-LEVEL FRAME 205
6.1.3 ATTITUDE ERRORS FOR LOCAL-LEVEL FRAME 211
6.1.4 INERTIAL SENSOR ERROR STATES 216
6.1.5 SUMMARY OF LOCAL-LEVEL FRAME ERROR STATE EQUATIONS . . . 217 6.2
SCHULER EFFECT 219
6.2.1 ERROR MODEL ALONG THE EAST CHANNEL 219
6.2.2 ERROR MODEL ALONG THE NORTH CHANNEL 221
6.2.3 UNDERSTANDING THE ERROR BEHAVIOR OF THE INERTIAL SYSTEM 222
REFERENCES 223
IMAGE 6
XII CONTENTS
7 KALMAN FILTER 225
7.1 DISCRETE-TIME KF 227
7.1.1 KF ASSUMPTIONS 228
7.2 KF PROCEDURE 229
7.2.1 TIME UPDATE OR PREDICTION 230
7.2.2 MEASUREMENT UPDATE OR CORRECTION 230
7.3 KF ALGORITHM STEPS 233
7.4 NON-LINEAR KALMAN FILTERING 235
7.4.1 LINEARIZED KF 235
7.4.2 EXTENDED KF 236
7.5 KF DIVERGENCE CONTROL 236
7.5.1 ADDITION OF FICTITIOUS NOISE TO THE KF PROCESS MODEL. . . 236
7.5.2 SCHMIDT EPSILON TECHNIQUE 237
7.5.3 FINITE MEMORY FILTERING 237
7.5.4 FADING MEMORY FILTERING 238
7.6 EXPLANATORY EXAMPLES 238
7.6.1 A SIMPLE NAVIGATION EXAMPLE 238
7.6.2 ZERO VELOCITY UPDATE 239
7.6.3 COORDINATE UPDATE 242
REFERENCES 244
8 INS/GPS INTEGRATION 247
8.1 ERROR FEEDBACK SCHEMES 248
8.1.1 OPEN-LOOP INS/GPS ARCHITECTURE 249
8.1.2 CLOSED-LOOP INS/GPS ARCHITECTURE 249
8.2 TYPES OF INTEGRATION 249
8.2.1 LOOSELY COUPLED INS/GPS INTEGRATION 250
8.2.2 TIGHTLY COUPLED INS/GPS INTEGRATION 251
8.2.3 ULTRA-TIGHT INS/GPS INTEGRATION 252
8.3 DYNAMIC ERROR MODEL OF INS EQUATIONS 252
8.4 MODELS FOR LOOSELY COUPLED INS/GPS INTEGRATION 255
8.4.1 SYSTEM MODEL 255
8.4.2 MEASUREMENT MODEL 257
8.4.3 THE OVERALL IMPLEMENTATION BLOCK DIAGRAM OF THE LOOSELY COUPLED
INS/GPS INTEGRATION 259
8.5 MODELING TIGHTLY COUPLED INS/GPS INTEGRATION 259
8.5.1 SYSTEM MODEL 260
8.5.2 MEASUREMENT MODEL 262
8.5.3 THE OVERALL MEASUREMENTS MODEL 269
REFERENCES 270
IMAGE 7
CONTENTS XIII
9 THREE-DIMENSIONAL REDUCED INERTIAL SENSOR SYSTEM/GPS
INTEGRATION FOR LAND-BASED VEHICLES 273
9.1 PERFORMANCE ANALYSIS OF 3D POSITIONING UTILIZING A MEMS GRADE FULL
IMU 273
9.2 THE PROPOSED TECHNIQUES FOR OVERCOMING MEMS GRADE IMU SHORTCOMINGS
FOR LAND-BASED VEHICLES 274
9.3 THREE-DIMENSIONAL REDUCED INERTIAL SENSOR SYSTEM 276
9.3.1 OVERVIEW OF 3D RISS 276
9.3.2 ADVANTAGES OF 3D RISS FOR WHEEL-BASED LAND VEHICLES 277
9.3.3 DERIVATION OF THE 3D RISS MOTION EQUATIONS 280
9.3.4 OVERVIEW OF 3D RISS MOTION MODEL 285
9.4 KF FOR LOOSELY COUPLED 3D RISS/GPS INTEGRATION 286
9.4.1 THE LINEARIZED ERROR MODEL FOR 3D RISS 287
9.4.2 MEASUREMENT MODEL FOR UPDATING 3D RISS 289
9.5 KF FOR TIGHTLY COUPLED 3D RISS/GPS INTEGRATION 290
9.5.1 AUGMENTING THE SYSTEM MODEL 290
9.5.2 RAW GPS MEASUREMENT MODEL FOR UPDATING 3D RISS. . . 290 REFERENCES
296
10 TWO CASE STUDIES: FULL IMU/GPS AND 3D RISS/GPS INTEGRATION 297
10.1 NAVIGATION EQUIPMENT USED FOR THE EXPERIMENTS 297
10.1.1 PARTIAL GPS OUTAGE CRITERION 299
10.2 PERFORMANCE OF TIGHTLY COUPLED ALGORITHM WITH FULL IMU/GPS 300
10.2.1 ANALYSIS OF SELECTED GPS OUTAGES 303
10.3 PERFORMANCE OF TIGHTLY COUPLED ALGORITHM FOR 3D RISS/GPS 307
10.3.1 ANALYSIS OF SELECTED GPS OUTAGES 309
REFERENCES 313 |
| any_adam_object | 1 |
| author | Noureldin, Aboelmagd Karamat, Tashfeen B. Georgy, Jacques |
| author_facet | Noureldin, Aboelmagd Karamat, Tashfeen B. Georgy, Jacques |
| author_role | aut aut aut |
| author_sort | Noureldin, Aboelmagd |
| author_variant | a n an t b k tb tbk j g jg |
| building | Verbundindex |
| bvnumber | BV040720780 |
| classification_rvk | ZI 9120 |
| classification_tum | MSR 323f |
| ctrlnum | (OCoLC)823935812 (DE-599)DNB1021714356 |
| dewey-full | 621.384191 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 621 - Applied physics |
| dewey-raw | 621.384191 |
| dewey-search | 621.384191 |
| dewey-sort | 3621.384191 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Bauingenieurwesen Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik |
| format | Book |
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| id | DE-604.BV040720780 |
| illustrated | Illustrated |
| indexdate | 2024-08-21T00:31:08Z |
| institution | BVB |
| isbn | 3642304656 9783642304651 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025701012 |
| oclc_num | 823935812 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-83 |
| owner_facet | DE-91G DE-BY-TUM DE-83 |
| physical | XVIII, 313 S. graph. Darst. |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
| record_format | marc |
| spelling | Noureldin, Aboelmagd Verfasser aut Fundamentals of inertial navigation, satellite-based positioning and their integration Aboelmagd Noureldin ; Tashfeen B. Karamat ; Jacques Georgy Berlin [u.a.] Springer 2013 XVIII, 313 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier GPS (DE-588)4216824-7 gnd rswk-swf Trägheitsnavigation (DE-588)4185821-9 gnd rswk-swf Integrierte Navigation (DE-588)4751567-3 gnd rswk-swf Integrierte Navigation (DE-588)4751567-3 s Trägheitsnavigation (DE-588)4185821-9 s GPS (DE-588)4216824-7 s DE-604 Karamat, Tashfeen B. Verfasser aut Georgy, Jacques Verfasser aut Erscheint auch als Online-Ausgabe 978-3-642-30466-8 text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4017200&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025701012&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Noureldin, Aboelmagd Karamat, Tashfeen B. Georgy, Jacques Fundamentals of inertial navigation, satellite-based positioning and their integration GPS (DE-588)4216824-7 gnd Trägheitsnavigation (DE-588)4185821-9 gnd Integrierte Navigation (DE-588)4751567-3 gnd |
| subject_GND | (DE-588)4216824-7 (DE-588)4185821-9 (DE-588)4751567-3 |
| title | Fundamentals of inertial navigation, satellite-based positioning and their integration |
| title_auth | Fundamentals of inertial navigation, satellite-based positioning and their integration |
| title_exact_search | Fundamentals of inertial navigation, satellite-based positioning and their integration |
| title_full | Fundamentals of inertial navigation, satellite-based positioning and their integration Aboelmagd Noureldin ; Tashfeen B. Karamat ; Jacques Georgy |
| title_fullStr | Fundamentals of inertial navigation, satellite-based positioning and their integration Aboelmagd Noureldin ; Tashfeen B. Karamat ; Jacques Georgy |
| title_full_unstemmed | Fundamentals of inertial navigation, satellite-based positioning and their integration Aboelmagd Noureldin ; Tashfeen B. Karamat ; Jacques Georgy |
| title_short | Fundamentals of inertial navigation, satellite-based positioning and their integration |
| title_sort | fundamentals of inertial navigation satellite based positioning and their integration |
| topic | GPS (DE-588)4216824-7 gnd Trägheitsnavigation (DE-588)4185821-9 gnd Integrierte Navigation (DE-588)4751567-3 gnd |
| topic_facet | GPS Trägheitsnavigation Integrierte Navigation |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4017200&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025701012&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT noureldinaboelmagd fundamentalsofinertialnavigationsatellitebasedpositioningandtheirintegration AT karamattashfeenb fundamentalsofinertialnavigationsatellitebasedpositioningandtheirintegration AT georgyjacques fundamentalsofinertialnavigationsatellitebasedpositioningandtheirintegration |