Principles of GNSS, inertial, and multisensor integrated navigation systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston
Artech House
[2013]
|
| Ausgabe: | Second edition |
| Schriftenreihe: | GNSS technology and application series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Description based on print version record |
| Beschreibung: | 1 online resource (800 pages) illustrations |
| ISBN: | 1608070050 9781608070053 9781608070060 |
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| 100 | 1 | |a Groves, Paul D. |4 aut | |
| 245 | 1 | 0 | |a Principles of GNSS, inertial, and multisensor integrated navigation systems |c Paul D. Groves |
| 250 | |a Second edition | ||
| 264 | 1 | |a Boston |b Artech House |c [2013] | |
| 264 | 4 | |c © 2013 | |
| 300 | |a 1 online resource (800 pages) |b illustrations | ||
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| 650 | 4 | |a Global Positioning System | |
| 650 | 4 | |a Artificial satellites in navigation | |
| 650 | 4 | |a Inertial navigation systems | |
| 650 | 4 | |a Navigation |x Technological innovations | |
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Datensatz im Suchindex
| _version_ | 1804177093173444608 |
|---|---|
| adam_text | Contents
Preface xvii
Acknowledgments xix
CHAPTER 1 I
Introduction 1
1 1 Fundamental Concepts 1
1 2 Dead Reckoning 5
1 3 Position Fixing 7
131 Position-Fixing Methods 7
132 Signal-Based Positioning 12
133 Environmental Feature Matching 14
1 4 The Navigation System 15
141 Requirements 16
142 Context 17
143 Integration 18
144 Aiding 18
145 Assistance and Cooperation 19
146 Fault Detection 20
1 5 Overview of the Book 20
References 22
CHAPTER 2
Coordinate Frames, Kinematics, and the Earth 23
2 1 Coordinate Frames 23
211 Earth-Centered Inertial Frame 25
212 Earth-Centered Earth-Fixed Frame 26
213 Local Navigation Frame 27
214 Local Tangent-Plane Frame 28
215 Body Frame 28
216 Other Frames 29
2 2 Attitude, Rotation, and Resolving Axes Transformations 30
221 Euler Attitude 33
222 Coordinate Transformation Matrix 35
223 Quaternion Attitude 40
224 Rotation Vector 42
2 3 Kinematics 43
v
VI
Contents
231 Angular Rate 44
232 Cartesian Position 46
233 Velocity 48
234 Acceleration 50
235 Motion with Respect to a Rotating Reference Frame 51
2 4 Earth Surface and Gravity Models 53
241 The Ellipsoid Model of the Earth’s Surface 54
242 Curvilinear Position 57
243 Position Conversion 61
244 The Geoid, Orthometric Height, and Earth Tides 64
245 Projected Coordinates 65
246 Earth Rotation 66
247 Specific Force, Gravitation, and Gravity 67
2 5 Frame Transformations 72
251 Inertial and Earth Frames 73
252 Earth and Local Navigation Frames 74
253 Inertial and Local Navigation Frames 75
254 Earth and Local Tangent-Plane Frames 76
255 Transposition of Navigation Solutions 77
References 78
CHAPTER 3
Kalman Filter-Based Estimation 81
3 1 Introduction 82
311 Elements of the Kalman Filter 82
312 Steps of the Kalman Filter 84
313 Kalman Filter Applications 86
3 2 Algorithms and Models 87
321 Definitions 87
322 Kalman Filter Algorithm 91
323 System Model 96
324 Measurement Model 100
325 Kalman Filter Behavior and State Observability 103
326 Closed-Loop Kalman Filter 106
327 Sequential Measurement Update 107
3 3 Implementation Issues 109
331 Tuning and Stability 109
332 Algorithm Design 111
333 Numerical Issues 113
334 Time Synchronization 114
335 Kalman Filter Design Process 117
3 4 Extensions to the Kalman Filter 117
341 Extended and Linearized Kalman Filter 118
342 Unscented Kalman Filter 121
343 Time-Correlated Noise 123
344 Adaptive Kalman Filter 124
345 Multiple-Hypothesis Filtering 125
346 Kalman Smoothing 129
3 5 The Particle Filter 131
References 135
CHAPTER 4
Inertial Sensors 137
4 1 Accelerometers 139
411 Pendulous Accelerometers 140
412 Vibrating-Beam Accelerometers 142
4 2 Gyroscopes 142
421 Optical Gyroscopes 143
422 Vibratory Gyroscopes 146
4 3 Inertial Measurement Units 149
4 4 Error Characteristics 151
441 Biases 152
442 Scale Factor and Cross-Coupling Errors 154
443 Random Noise 155
444 Further Error Sources 157
445 Vibration-Induced Errors 159
446 Error Models 160
References 161
CHAPTER 5
Inertial Navigation 163
5 1 Introduction to Inertial Navigation 164
5 2 Inertial-Frame Navigation Equations 168
521 Attitude Update 168
522 Specific-Force Frame Transformation 170
523 Velocity Update 171
524 Position Update 172
5 3 Earth-Frame Navigation Equations 172
531 Attitude Update 173
532 Specific-Force Frame Transformation 174
533 Velocity Update 174
534 Position Update 175
5 4 Local-Navigation-Frame Navigation Equations 176
541 Attitude Update 176
542 Specific-Force Frame Transformation 178
543 Velocity Update 179
544 Position Update 179
545 Wander-Azimuth Implementation 180
5 5 Navigation Equations Optimization 183
551 Precision Attitude Update 183
552 Precision Specific-Force Frame Transformation 187
553 Precision Velocity and Position Updates 188
viii
Contents
554 Effects of Sensor Sampling Interval and Vibration 189
555 Design Tradeoffs 195
5 6 Initialization and Alignment 195
561 Position and Velocity Initialization 196
562 Attitude Initialization 196
563 Fine Alignment 200
5 7 INS Error Propagation 203
571 Short-Term Straight-Line Error Propagation 204
572 Medium- and Long-Term Error Propagation 209
573 Maneuver-Dependent Errors 212
5 8 Indexed IMU 214
5 9 Partial IMU 215
References 216
CHAPTER 6
Dead Reckoning, Attitude, and Height Measurement 217
6 1 Attitude Measurement 217
611 Magnetic Heading 218
612 Marine Gyrocompass 222
613 Strapdown Yaw-Axis Gyro 223
614 Heading from Trajectory 225
615 Integrated Heading Determination 226
616 Accelerometer Leveling and Tilt Sensors 226
617 Horizon Sensing 227
618 Attitude and Heading Reference System 228
6 2 Height and Depth Measurement 229
621 Barometric Altimeter 230
622 Depth Pressure Sensor 231
623 Radar Altimeter 232
6 3 Odometry 233
631 Linear Odometry 234
632 Differential Odometry 238
633 Integrated Odometry and Partial IMU 239
6 4 Pedestrian Dead Reckoning Using Step Detection 240
6 5 Doppler Radar and Sonar 245
6 6 Other Dead-Reckoning Techniques 249
661 Correlation-Based Velocity Measurement 249
662 Air Data 249
663 Ship’s Speed Log 250
References 250
CHAPTER 7
Principles of Radio Positioning 255
7 1 Radio Positioning Configurations and Methods 255
711 Self-Positioning and Remote Positioning 255
712 Relative Positioning 257
713 Proximity 258
714 Ranging 260
715 Angular Positioning 269
716 Pattern Matching 271
717 Doppler Positioning 274
Positioning Signals 276
721 Modulation Types 276
722 Radio Spectrum 277
User Equipment 279
731 Architecture 279
732 Signal Timing Measurement 280
733 Position Determination from Ranging 282
Propagation, Error Sources, and Positioning Accuracy 287
741 Ionosphere, Troposphere, and Surface Propagation Effects 287
742 Attenuation, Reflection, Multipath, and Diffraction 288
743 Resolution, Noise, and Tracking Errors 290
744 Transmitter Location and Timing Errors 292
745 Effect of Signal Geometry 292
References 297
CHAPTER 8
GNSS: Fundamentals, Signals, and Satellites 299
8 1 Fundamentals of Satellite Navigation 300
811 GNSS Architecture 300
812 Signals and Range Measurement 303
813 Positioning 307
814 Error Sources and Performance Limitations 309
8 2 The Systems 312
821 Global Positioning System 312
822 GLONASS 313
823 Galileo 313
824 Beidou 314
825 Regional Systems 314
826 Augmentation Systems 314
827 System Compatibility 316
8 3 GNSS Signals 317
831 Signal Types 318
832 Global Positioning System 320
833 GLONASS 323
834 Galileo 324
835 Beidou 326
836 Regional Systems 326
837 Augmentation Systems 327
8 4 Navigation Data Messages 327
841 GPS 327
842 GLONASS 328
X
Contents
843 Galileo 329
844 SBAS 329
845 Time Base Synchronization 329
8 5 Satellite Orbits and Geometry 330
851 Satellite Orbits 330
852 Satellite Position and Velocity 332
853 Range, Range Rate, and Line of Sight 339
854 Elevation and Azimuth 344
References 345
CHAPTER 9
GNSS: User Equipment Processing and Errors 349
9 1 Receiver Hardware and Antenna 350
911 Antennas 350
912 Reference Oscillator 351
913 Receiver Front End 352
914 Baseband Signal Processor 355
9 2 Ranging Processor 367
921 Acquisition 367
922 Code Tracking 372
923 Carrier Tracking 377
924 Tracking Lock Detection 384
925 Navigation-Message Demodulation 385
926 Carrier-Power-to-Noise-Density Measurement 386
927 Pseudo-Range, Pseudo-Range-Rate, and Carrier-Phase
Measurements 387
9 3 Range Error Sources 389
931 Ephemeris Prediction and Satellite Clock Errors 390
932 Ionosphere and Troposphere Propagation Errors 391
933 Tracking Errors 395
934 Multipath, Nonline-of-Sight, and Diffraction 401
9 4 Navigation Processor 407
941 Single-Epoch Navigation Solution 409
942 Filtered Navigation Solution 413
943 Signal Geometry and Navigation Solution Accuracy 424
944 Position Error Budget 429
References 431
CHAPTER 10
GNSS: Advanced Techniques 437
10 1 Differential GNSS 437
10 1 1 Spatial and Temporal Correlation of GNSS Errors 438
10 1 2 Local and Regional Area DGNSS 439
10 1 3 Wide Area DGNSS and Precise Point Positioning 440
10 1 4 Relative GNSS 441
Jf k- 10 2 Real-Time Kinematic Carrier-Phase Positioning
fr and Attitude Determination 442
10 2 1 Principles of Accumulated Delta Range Positioning 443
10 2 2 Single-Epoch Navigation Solution Using Double-
1 Differenced ADR 446
1 10 2 3 Geometry-Based Integer Ambiguity Resolution 447
1 10 2 4 Multifrequency Integer Ambiguity Resolution 449
10 2 5 GNSS Attitude Determination 450
1 10 3 Interference Rejection and Weak Signal Processing 451
/■ 10 3 1 Sources of Interference, Jamming, and Attenuation 452
10 3 2 Antenna Systems 452
10 3 3 Receiver Front-End Filtering 453
10 3 4 Extended Range Tracking 454
i 10 3 5 Receiver Sensitivity 455
§ 10 3 6 Combined Acquisition and Tracking 456
i 10 3 7 Vector Tracking 456
t 10 4 Mitigation of Multipath Interference and
i Nonline-of-Sight Reception 458
10 4 1 Antenna-Based Techniques 459
f 10 4 2 Receiver-Based Techniques 460
tf 10 4 3 Navigation-Processor-Based Techniques 461
1 10 5 Aiding, Assistance, and Orbit Prediction 462
10 5 1 Acquisition and Velocity Aiding 463
1 10 5 2 Assisted GNSS 464
i 10 5 3 Orbit Prediction 465
10 6 Shadow Matching 465
$/ References 467
f CHAPTER 11
5; Long- and Medium-Range Radio Navigation 473
| 11 1 Aircraft Navigation Systems 473
11 1 1 Distance Measuring Equipment 474
t 11 1 2 Range-Bearing Systems 479
11 1 3 Nondirectional Beacons 480
| ■ 11 1 4 JTIDS/MIDS Relative Navigation 481
1 11 1 5 Future Air Navigation Systems 481
I 11 2 Enhanced Loran 481
11 2 1 Signals 482
11 2 2 User Equipment and Positioning 484
11 2 3 Error Sources 487
11 2 4 Differential Loran 488
11 3 Phone Positioning 488
11 3 1 Proximity and Pattern Matching 489
11 3 2 Ranging 490
11 4 Other Systems 491
11 4 1 Iridium Positioning 491
xii Contents
11 4 2 Marine Radio Beacons 492
11 4 3 AM Radio Broadcasts 492
11 4 4 FM Radio Broadcasts 493
11 4 5 Digital Television and Radio 493
11 4 6 Generic Radio Positioning 494
References 495
CHAPTER 12
Short-Range Positioning 499
12 1 Pseudolites 499
12 1 1 In-Band Pseudolites 500
12 1 2 Locata and Terralite XPS 500
12 1 3 Indoor Messaging System 501
12 2 Ultrawideband 501
12 2 1 Modulation Schemes 502
12 2 2 Signal Timing 503
12 2 3 Positioning 504
12 3 Short-Range Communications Systems 506
12 3 1 Wireless Local Area Networks (Wi-Fi) 506
12 3 2 Wireless Personal Area Networks 507
12 3 3 Radio Frequency Identification 508
12 3 4 Bluetooth Low Energy 508
12 3 5 Dedicated Short-Range Communication 509
12 4 Underwater Acoustic Positioning 509
12 5 Other Positioning Technologies 512
12 5 1 Radio 512
12 5 2 Ultrasound 512
12 5 3 Infrared 512
12 5 4 Optical 513
12 5 5 Magnetic 513
References 513
CHAPTER 1 t
Environmental Feature Matching 517
13 1 Map Matching 519
13 1 1 Digital Road Maps 520
13 1 2 Road Link Identification 521
13 1 3 Road Positioning 526
13 1 4 Rail Map Matching 527
13 1 5 Pedestrian Map Matching 528
13 2 Terrain-Referenced Navigation 530
13 2 1 Sequential Processing 531
13 2 2 Batch Processing 532
13 2 3 Performance 535
13 2 4 Laser TRN 535
1 13 2 5 Sonar TRN 536
13 2 6 Barometric TRN 537
■? 13 2 7 Terrain Database Height Aiding 537
:s- 13 3 Image-Based Navigation 538
13 3 1 Imaging Sensors 539
% | 13 3 2 Image Feature Comparison 541
1 13 3 3 Position Fixing Using Individual Features 543
|; 13 3 4 Position Fixing by Whole-Image Matching 546
1 13 3 5 Visual Odometry 546
| 13 3 6 Feature Tracking 548
|; 13 3 7 Stellar Navigation 548
‘f 13 4 Other Feature-Matching Techniques 550
?■: 13 4 1 Gravity Gradiometry 551
13 4 2 Magnetic Field Variation 552
13 4 3 Celestial X-Ray Sources 552
t: i References 552
■ CHAPTER 14
§ INS/GNSS Integration 559
f 14 1 Integration Architectures 560
14 1 1 Correction of the Inertial Navigation Solution 562
1 14 1 2 Loosely Coupled Integration 566
1 14 1 3 Tightly Coupled Integration 567
1 14 1 4 GNSS Aiding 569
14 1 5 Deeply Coupled Integration 571
1 14 2 System Model and State Selection 573
1 14 2 1 State Selection and Observability 574
f 14 2 2 INS State Propagation in an Inertial Frame 577
ft 14 2 3 INS State Propagation in an Earth Frame 582
d‘y 14 2 4 INS State Propagation Resolved in a Local
4:: Navigation Frame 584
t 14 2 5 Additional IMU Error States 589
f 14 2 6 INS System Noise 590
14 2 7 GNSS State Propagation and System Noise 593
‘I; 14 2 8 State Initialization 594
i 14 3 Measurement Models 596
i: 14 3 1 Loosely Coupled Integration 598
1 14 3 2 Tightly Coupled Integration 602
14 3 3 Deeply Coupled Integration 606
14 3 4 Estimation of Attitude and Instrument Errors 614
/t 14 4 Advanced INS/GNSS Integration 615
■ 14 4 1 Differential GNSS 615
I 14 4 2 Carrier-Phase Positioning 616
I 14 4 3 GNSS Attitude 618
§ 14 4 4 Large Heading Errors 619
xiv Contents
14 4 5 Advanced IMU Error Modeling 621
14 4 6 Smoothing 622
References 622
CHAPTER 15
INS Alignment, Zero Updates, and Motion Constraints 627
15 1 Transfer Alignment 627
15 1 1 Conventional Measurement Matching 629
15 1 2 Rapid Transfer Alignment 631
15 1 3 Reference Navigation System 633
15 2 Quasi-Stationary Alignment 634
15 2 1 Coarse Alignment 634
15 2 2 Fine Alignment 637
15 3 Zero Updates 638
15 3 1 Stationary-Condition Detection 638
15 3 2 Zero Velocity Update 639
15 3 3 Zero Angular Rate Update 640
15 4 Motion Constraints 641
15 4 1 Land Vehicle Constraints 641
15 4 2 Pedestrian Constraints 643
15 4 3 Ship and Boat Constraint 644
References 644
CHAPTER 16
Multisensor Integrated Navigation 647
16 1 Integration Architectures 647
16 1 1 Cascaded Single-Epoch Integration 648
16 1 2 Centralized Single-Epoch Integration 651
16 1 3 Cascaded Filtered Integration 652
16 1 4 Centralized Filtered Integration 654
16 1 5 Federated Filtered Integration 655
16 1 6 Hybrid Integration Architectures 658
16 1 7 Total-State Kalman Filter Employing Prediction 659
16 1 8 Error-State Kalman Filter 661
16 1 9 Primary and Reversionary Moding 663
16 1 10 Context-Adaptive Moding 665
16 2 Dead Reckoning, Attitude, and Height Measurement 666
16 2 1 Attitude 667
16 2 2 Height and Depth 673
16 2 3 Odometry 674
16 2 4 Pedestrian Dead Reckoning Using Step Detection 677
16 2 5 Doppler Radar and Sonar 680
16 2 6 Visual Odometry and Terrain-Referenced Dead Reckoning 682
16 3 Position-Fixing Measurements 682
16 3 1 Position Measurement Integration 683
16 3 2 Ranging Measurement Integration 685
f
16 3 3 Angular Measurement Integration 690
16 3 4 Line Fix Integration 694
16 3 5 Handling Ambiguous Measurements 695
f ■■■ 16 3 6 Feature Tracking and Mapping 697
a 16 3 7 Aiding of Position-Fixing Systems 698
f ; f; * : References 699
1 CHAPTER 17
Fault Detection, Integrity Monitoring, and Testing 701
17 1 Failure Modes 702
I 17 1 1 Inertial Navigation 702
I 17 1 2 Dead Reckoning, Attitude, and Height Measurement 702
H 17 1 3 GNSS 703
17 1 4 Terrestrial Radio Navigation 703
f 17 1 5 Environmental Feature Matching and Tracking 704
■ f 17 1 6 Integration Algorithm 704
§ 17 1 7 Context 705
17 2 Range Checks 705
17 2 1 Sensor Outputs 705
f- 17 2 2 Navigation Solution 706
f; 17 2 3 Kalman Filter Estimates 706
f 17 3 Kalman Filter Measurement Innovations 706
17 3 1 Innovation Filtering 707
17 3 2 Innovation Sequence Monitoring 709
iff- 17 3 3 Remedying Biased State Estimates 711
■fr- 17 4 Direct Consistency Checks 712
|v 17 4 1 Measurement Consistency Checks and RAIM 713
17 4 2 Parallel Solutions 715
Sv- 1 17 5 Infrastructure-Based Integrity Monitoring 719
■f: 17 6 Solution Protection and Performance Requirements 720
17 7 Testing 724
-^P 17 7 1 Field Trials 724
: 17 7 2 Recorded Data Testing 725
t- 17 7 3 Laboratory Testing 725
t 17 7 4 Software Simulation 725
f References 726
18
Applications and Future Trends 729
•Jr 18 1 Design and Development 729
18 2 Aviation 731
18 3 Guided Weapons and Small UAVs 733
f ■ 18 4 Land Vehicle Applications 733
i 18 5 Rail Navigation 734
b, 18 6 Marine Navigation 735
: Jv 18 7 Underwater Navigation 737
XVI
Contents
18 8 Spacecraft Navigation 737
18 9 Pedestrian Navigation 738
18 10 Other Applications 739
18 11 Future Trends 740
References 741
List of Symbols 743
Acronyms and Abbreviations 751
About the Author 757
DVD Contents 759
|
| any_adam_object | 1 |
| author | Groves, Paul D. |
| author_facet | Groves, Paul D. |
| author_role | aut |
| author_sort | Groves, Paul D. |
| author_variant | p d g pd pdg |
| building | Verbundindex |
| bvnumber | BV044064532 |
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| dewey-full | 629.045 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.045 |
| dewey-search | 629.045 |
| dewey-sort | 3629.045 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Verkehr / Transport |
| edition | Second edition |
| format | Electronic eBook |
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| id | DE-604.BV044064532 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T07:42:35Z |
| institution | BVB |
| isbn | 1608070050 9781608070053 9781608070060 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029471377 |
| oclc_num | 880437603 |
| open_access_boolean | |
| physical | 1 online resource (800 pages) illustrations |
| psigel | ZDB-30-PAD ZDB-38-ESG |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Artech House |
| record_format | marc |
| series2 | GNSS technology and application series |
| spelling | Groves, Paul D. aut Principles of GNSS, inertial, and multisensor integrated navigation systems Paul D. Groves Second edition Boston Artech House [2013] © 2013 1 online resource (800 pages) illustrations txt rdacontent c rdamedia cr rdacarrier GNSS technology and application series Description based on print version record Global Positioning System Artificial satellites in navigation Inertial navigation systems Navigation Technological innovations Navigation (DE-588)4041457-7 gnd rswk-swf Navigationssystem (DE-588)4781185-7 gnd rswk-swf GNSS-2 (DE-588)4713269-3 gnd rswk-swf Navigationssystem (DE-588)4781185-7 s GNSS-2 (DE-588)4713269-3 s 1\p DE-604 Navigation (DE-588)4041457-7 s 2\p DE-604 Erscheint auch als Druck-Ausgabe Groves, Paul D . Principles of GNSS, inertial, and multisensor integrated navigation systems HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029471377&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Groves, Paul D. Principles of GNSS, inertial, and multisensor integrated navigation systems Global Positioning System Artificial satellites in navigation Inertial navigation systems Navigation Technological innovations Navigation (DE-588)4041457-7 gnd Navigationssystem (DE-588)4781185-7 gnd GNSS-2 (DE-588)4713269-3 gnd |
| subject_GND | (DE-588)4041457-7 (DE-588)4781185-7 (DE-588)4713269-3 |
| title | Principles of GNSS, inertial, and multisensor integrated navigation systems |
| title_auth | Principles of GNSS, inertial, and multisensor integrated navigation systems |
| title_exact_search | Principles of GNSS, inertial, and multisensor integrated navigation systems |
| title_full | Principles of GNSS, inertial, and multisensor integrated navigation systems Paul D. Groves |
| title_fullStr | Principles of GNSS, inertial, and multisensor integrated navigation systems Paul D. Groves |
| title_full_unstemmed | Principles of GNSS, inertial, and multisensor integrated navigation systems Paul D. Groves |
| title_short | Principles of GNSS, inertial, and multisensor integrated navigation systems |
| title_sort | principles of gnss inertial and multisensor integrated navigation systems |
| topic | Global Positioning System Artificial satellites in navigation Inertial navigation systems Navigation Technological innovations Navigation (DE-588)4041457-7 gnd Navigationssystem (DE-588)4781185-7 gnd GNSS-2 (DE-588)4713269-3 gnd |
| topic_facet | Global Positioning System Artificial satellites in navigation Inertial navigation systems Navigation Technological innovations Navigation Navigationssystem GNSS-2 |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029471377&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT grovespauld principlesofgnssinertialandmultisensorintegratednavigationsystems |