E-Book, Englisch, 368 Seiten, Format (B × H): 155 mm x 230 mm
Jekeli Inertial Navigation Systems with Geodetic Applications
1. Auflage 2012
ISBN: 978-3-11-080023-4
Verlag: De Gruyter
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)
E-Book, Englisch, 368 Seiten, Format (B × H): 155 mm x 230 mm
ISBN: 978-3-11-080023-4
Verlag: De Gruyter
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)
This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with the Global Positioning System (GPS) for geodetic applications. Complete mathematical derivations are given. Both stabilized and strapdown mechanizations are treated in detail. Derived algorithms to process sensor data and a comprehensive explanation of the error dynamics provide not only an analytical understanding but also a practical implementation of the concepts. A self-contained description of GPS, with emphasis on kinematic applications, is one of the highlights in this book.
The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing.
Autoren/Hrsg.
Weitere Infos & Material
1;1 Coordinate Frames and Transformations;15
2;1.1 Introduction;15
3;1.2 Coordinate Frames;17
4;1.3 Transformations;23
5;1.4 Differential Equation of the Transformation;34
6;1.5 Specific Coordinate Transformations;36
7;1.6 Fourier Transforms;41
8;2 Ordinary Differential Equations;45
9;2.1 Introduction;45
10;2.2 Linear Differential Equations;46
11;2.3 General Solution of Linear Differential Equations;47
12;2.4 Numerical Methods;58
13;3 Inertial Measurement Units;65
14;3.1 Introduction;65
15;3.2 Gyroscopes;67
16;3.3 Accelerometer;100
17;4 Inertial Navigation System;115
18;4.1 Introduction;115
19;4.2 Mechanizations;118
20;4.3 Navigation Equations;137
21;5 System Error Dynamics;153
22;5.1 Introduction;153
23;5.2 Simplified Analysis;154
24;5.3 Linearized Error Equations;161
25;5.4 Approximate Analysis;171
26;6 Stochastic Processes and Error Models;179
27;6.1 Introduction;179
28;6.2 Probability Theory;179
29;6.3 Stochastic Processes;186
30;6.4 White Noise;191
31;6.5 Stochastic Error Models;193
32;6.6 Gravity Models;200
33;6.7 Examples of IMU Error Processes;209
34;7 Linear Estimation;211
35;7.1 Introduction;211
36;7.2 Bayesian Estimation;213
37;7.3 Discrete Kalman Filter;221
38;7.4 Discrete Linear Dynamics Model;234
39;7.5 Modifications;237
40;7.6 A Simple Example;241
41;7.7 Continuous Kalman Filter;244
42;8 INS Initialization and Alignment;252
43;8.1 Introduction;252
44;8.2 Coarse Alignment;254
45;8.3 Fine Alignment and Calibration;257
46;9 The Global Positioning System (GPS);269
47;9.1 Introduction;269
48;9.2 Global Positioning System;273
49;9.3 GPS Observables;280
50;9.4 GPS Errors;283
51;9.5 Combinations of Observations;287
52;9.6 Kinematic Positioning;296
53;10 Geodetic Application;309
54;10.1 Introduction;309
55;10.2 Inertial Survey System;311
56;10.3 GPS/INS Integration;320
57;10.4 Moving-Base Gravimetry;334
58;References;350
59;Index;357
