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.

MOHINDER S. GREWAL, PHD, PE, is a Professor of Electrical Engineering in the College of Engineering and Computer Science at California State University, Fullerton.

ANGUS P. ANDREWS, PHD, was a Senior Scientist (now retired) at the Rockwell Science Center, in Thousand Oaks, California.

CHRIS G. BARTONE, PHD, PE, is a Professor of Electrical Engineering in the Russ College of Engineering and Technology, School of Electrical Engineering and Computer Science at Ohio University, Athens, OH.

Inhalt

Preface to the Fourth Edition xxv

Acknowledgments xxix

About the Authors xxx

Acronyms xxxi

About the Companion Website xxxix

1 Introduction 1

1.1 Navigation 1

1.1.1 Navigation-Related Technologies 1

1.1.2 Navigation Modes 2

1.2 GNSS Overview 3

1.2.1 GPS 4

1.2.2 Global Orbiting Navigation Satellite System (GLONASS) 6

1.2.3 Galileo 7

1.2.4 BeiDou 9

1.2.5 Regional Satellite Systems 10

1.3 Inertial Navigation Overview 10

1.3.1 History 11

1.3.2 Development Results 12

1.4 GNSS/INS Integration Overview 16

1.4.1 The Role of Kalman Filtering 16

1.4.2 Implementation 17

Problems 17

References 18

2 Fundamentals of Satellite Navigation Systems 21

2.1 Chapter Focus 21

2.2 Satellite Navigation Systems Considerations 21

2.2.1 Systems Other than GNSS 21

2.2.2 Comparison Criteria 22

2.3 Satellite Navigation 22

2.3.1 GNSS Orbits 23

2.3.2 Navigation Solution (Two-Dimensional Example) 25

2.3.3 User Solution and Dilution of Precision (DOP) 28

2.3.4 Example Calculation of DOPs 32

2.4 Time and GPS 33

2.4.1 Coordinated Universal Time (UTC) Generation 33

2.4.2 GPS System Time 33

2.4.3 Receiver Computation of UTC 34

2.5 Example: User Position Calculations with No Errors 35

2.5.1 User Position Calculations 35

2.5.2 User Velocity Calculations 37

Problems 39

References 41

3 Fundamentals of Inertial Navigation 43

3.1 Chapter Focus 43

3.2 Terminology 44

3.3 Inertial Sensor Technologies 50

3.3.1 Gyroscopes 50

3.3.2 Accelerometers 53

3.3.3 Sensor Errors 55

3.3.4 Inertial Sensor Assembly (ISA) Calibration 57

3.3.5 Carouseling and Indexing 60

3.4 Inertial Navigation Models 60

3.4.1 Geoid Models 61

3.4.2 Terrestrial Navigation Coordinates 61

3.4.3 Earth Rotation Model 63

3.4.4 Gravity Models 63

3.4.5 Attitude Models 68

3.5 Initializing the Navigation Solution 70

3.5.1 Initialization from an Earth-fixed Stationary State 70

3.5.2 Initialization on the Move 73

3.6 Propagating the Navigation Solution 73

3.6.1 Attitude Propagation 73

3.6.2 Position and Velocity Propagation 82

3.7 Testing and Evaluation 86

3.7.1 Laboratory Testing 86

3.7.2 Field Testing 86

3.7.3 Performance Qualification Testing 87

3.8 Summary 89

3.8.1 Further Reading 89

Problems 90

References 92

4 GNSS Signal Structure, Characteristics, and Information Utilization 93

4.1 Legacy GPS Signal Components, Purposes, and Properties 93

4.1.1 Signal Models for the Legacy GPS Signals 94

4.1.2 Navigation Data Format 98

4.1.3 GPS Satellite Position Calculations 102

4.1.4 C/A-Code and Its Properties 108

4.1.5 P(Y)-Code and Its Properties 115

4.1.6 L1 and L2 Carriers 116

4.1.7 Transmitted Power Levels 117

4.1.8 Free Space and Other Loss Factors 117

4.1.9 Received Signal Power 118

4.2 Modernization of GPS 118

4.2.1 Benefits from GPS Modernization 119

4.2.2 Elements of the Modernized GPS 120

4.2.3 L2 Civil Signal (L2C) 122

4.2.4 L5 Signal 123

4.2.5 M-Code 125

4.2.6 L1C Signal 126

4.2.7 GPS Satellite Blocks 128

4.2.8 GPS Ground Control Segment 129

4.3 GLONASS Signal Structure and Characteristics 129

4.3.1 Frequency Division Multiple Access (FDMA) Signals 130

4.3.2 CDMA Modernization 131