Principles of GNSS, inertial, and multi-sensor integrated navigation systems 2nd ed

The main aims of this book are as follows: • To describe, both qualitatively and mathematically, global navigation satellite systems (GNSS), inertial navigation, and many other navigation and positioning technologies, focusing on their principles of operation, their performance characteristics, and how they may be integrated together; • To provide a clear and accessible introduction to navigation systems suitable for those with no prior knowledge; • To review the state of the art in navigation and positioning, introducing new ideas, as well as presenting established technology. Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems Second Edition......Page 2 Contents ......Page 6 Preface......Page 18 Acknowledgments......Page 20 1.1 Fundamental Concepts......Page 22 1.2 Dead Reckoning......Page 26 1.3.1 Position-Fixing Methods......Page 28 1.3.2 Signal-Based Positioning......Page 33 1.3.3 Environmental Feature Matching......Page 35 1.4 The Navigation System......Page 36 1.4.1 Requirements......Page 37 1.4.2 Context......Page 38 1.4.4 Aiding......Page 39 1.4.5 Assistance and Cooperation......Page 40 1.5 Overview of the Book......Page 41 2.1 Coordinate Frames......Page 44 2.1.1 Earth-Centered Inertial Frame......Page 46 2.1.2 Earth-Centered Earth-Fixed Frame......Page 47 2.1.3 Local Navigation Frame......Page 48 2.1.5 Body Frame......Page 49 2.1.6 Other Frames......Page 50 2.2 Attitude, Rotation, and Resolving Ax......Page 51 2.2.1 Euler Attitude......Page 54 2.2.2 Coordinate Transformation Matrix......Page 56 2.2.3 Quaternion Attitude......Page 61 2.2.4 Rotation Vector......Page 63 2.3 Kinematics......Page 64 2.3.1 Angular Rate......Page 65 2.3.2 Cartesian Position......Page 67 2.3.3 Velocity......Page 69 2.3.4 Acceleration......Page 71 2.3.5 Motion with Respect to a Rotating......Page 72 2.4 Earth Surface and Gravity Models......Page 74 2.4.1 The Ellipsoid Model of the Earth’s......Page 75 2.4.2 Curvilinear Position......Page 78 2.4.3 Position Conversion......Page 82 2.4.4 The Geoid, Orthometric Height, and......Page 85 2.4.5 Projected Coordinates......Page 86 2.4.6 Earth Rotation......Page 87 2.4.7 Specific Force, Gravitation, and G......Page 88 2.5 Frame Transformations......Page 93 2.5.1 Inertial and Earth Frames......Page 94 2.5.2 Earth and Local Navigation Frames......Page 95 2.5.3 Inertial and Local Navigation Fram......Page 96 2.5.4 Earth and Local Tangent-Plane Fram......Page 97 2.5.5 Transposition of Navigation Soluti......Page 98 References......Page 99 Chapter 3 Kalman Filter-Based Esitmation ......Page 102 3.1.1 Elements of the Kalman Filter......Page 103 3.1.2 Steps of the Kalman Filter......Page 105 3.1.3 Kalman Filter Applications......Page 107 3.2.1 Definitions......Page 108 3.2.2 Kalman Filter Algorithm......Page 112 3.2.3 System Model......Page 117 3.2.4 Measurement Model......Page 121 3.2.5 Kalman Filter Behavior and State O......Page 124 3.2.6 Closed-Loop Kalman Filter......Page 127 3.2.7 Sequential Measurement Update......Page 128 3.3.1 Tuning and Stability......Page 130 3.3.2 Algorithm Design......Page 132 3.3.3 Numerical Issues......Page 134 3.3.4 Time Synchronization......Page 135 3.4 Extensions to the Kalman Filter......Page 138 3.4.1 Extended and Linearized Kalman Fil......Page 139 3.4.2 Unscented Kalman Filter......Page 142 3.4.3 Time-Correlated Noise......Page 144 3.4.4 Adaptive Kalman Filter......Page 145 3.4.5 Multiple-Hypothesis Filtering......Page 146 3.4.6 Kalman Smoothing......Page 150 3.5 The Particle Filter......Page 152 References......Page 156 Chapter 4 Inertial Sensors ......Page 158 4.1 Accelerometers......Page 160 4.1.1 Pendulous Accelerometers......Page 161 4.2 Gyroscopes......Page 163 4.2.1 Optical Gyroscopes......Page 164 4.2.2 Vibratory Gyroscopes......Page 167 4.3 Inertial Measurement Units......Page 170 4.4 Error Characteristics......Page 172 4.4.1 Biases......Page 173 4.4.2 Scale Factor and Cross-Coupling Er......Page 175 4.4.3 Random Noise......Page 176 4.4.4 Further Error Sources......Page 178 4.4.5 Vibration-Induced Errors......Page 180 4.4.6 Error Models......Page 181 References......Page 182 Chapter 5 Inertial Navigation ......Page 184 5.1 Introduction to Inertial Navigation......Page 185 5.2.1 Attitude Update......Page 189 5.2.2 Specific-Force Frame Transformatio......Page 191 5.2.3 Velocity Update......Page 192 5.3 Earth-Frame Navigation Equations......Page 193 5.3.1 Attitude Update......Page 194 5.3.3 Velocity Update......Page 195 5.3.4 Position Update......Page 196 5.4.1 Attitude Update......Page 197 5.4.2 Specific-Force Frame Transformatio......Page 199 5.4.4 Position Update......Page 200 5.4.5 Wander-Azimuth Implementation......Page 201 5.5.1 Precision Attitude Update......Page 204 5.5.2 Precision Specific-Force Frame Tra......Page 208 5.5.3 Precision Velocity and Position Up......Page 209 5.5.4 Effects of Sensor Sampling Interva......Page 210 5.6 Initialization and Alignment......Page 216 5.6.2 Attitude Initialization......Page 217 5.6.3 Fine Alignment......Page 221 5.7 INS Error Propagation......Page 224 5.7.1 Short-Term Straight-Line Error Pro......Page 225 5.7.2 Medium- and Long-Term Error Propag......Page 230 5.7.3 Maneuver-Dependent Errors......Page 233 5.8 Indexed IMU......Page 235 5.9 Partial IMU......Page 236 References......Page 237 6.1 Attitude Measurement......Page 238 6.1.1 Magnetic Heading......Page 239 6.1.2 Marine Gyrocompass......Page 243 6.1.3 Strapdown Yaw-Axis Gyro......Page 244 6.1.4 Heading from Trajectory......Page 246 6.1.6 Accelerometer Leveling and Tilt Se......Page 247 6.1.7 Horizon Sensing......Page 248 6.1.8 Attitude and Heading Reference Sys......Page 249 6.2 Height and Depth Measurement......Page 250 6.2.1 Barometric Altimeter......Page 251 6.2.2 Depth Pressure Sensor......Page 252 6.2.3 Radar Altimeter......Page 253 6.3 Odometry......Page 254 6.3.1 Linear Odometry......Page 255 6.3.2 Differential Odometry......Page 259 6.3.3 Integrated Odometry and Partial IM......Page 260 6.4 Pedestrian Dead Reckoning Using Step......Page 261 6.5 Doppler Radar and Sonar......Page 266 6.6.2 Air Data......Page 270 References......Page 271 7.1.1 Self-Positioning and Remote Positi......Page 276 7.1.2 Relative Positioning......Page 278 7.1.3 Proximity......Page 279 7.1.4 Ranging......Page 281 7.1.5 Angular Positioning......Page 290 7.1.6 Pattern Matching......Page 292 7.1.7 Doppler Positioning......Page 295 7.2.1 Modulation Types......Page 297 7.2.2 Radio Spectrum......Page 298 7.3.1 Architecture......Page 300 7.3.2 Signal Timing Measurement......Page 301 7.3.3 Position Determination from Rangin......Page 303 7.4.1 Ionosphere, Troposphere, and Surfa......Page 308 7.4.2 Attenuation, Reflection, Multipath......Page 309 7.4.3 Resolution, Noise, and Tracking Er......Page 311 7.4.5 Effect of Signal Geometry......Page 313 References......Page 318 Chapter 8 GNSS: Fundamentals, Signals, and Satellites ......Page 320 8.1.1 GNSS Architecture......Page 321 8.1.2 Signals and Range Measurement......Page 324 8.1.3 Positioning......Page 328 8.1.4 Error Sources and Performance Limi......Page 330 8.2.1 Global Positioning System......Page 333 8.2.3 Galileo......Page 334 8.2.6 Augmentation Systems......Page 335 8.2.7 System Compatibility......Page 337 8.3 GNSS Signals......Page 338 8.3.1 Signal Types......Page 339 8.3.2 Global Positioning System......Page 341 8.3.3 GLONASS......Page 344 8.3.4 Galileo......Page 345 8.3.6 Regional Systems......Page 347 8.4.1 GPS......Page 348 8.4.2 GLONASS......Page 349 8.4.5 Time Base Synchronization......Page 350 8.5.1 Satellite Orbits......Page 351 8.5.2 Satellite Position and Velocity......Page 353 8.5.3 Range, Range Rate, and Line of Sight......Page 360 8.5.4 Elevation and Azimuth......Page 365 References......Page 366 Chapter 9 GNSS: User Equipment Processing and Errors......Page 370 9.1.1 Antennas......Page 371 9.1.2 Reference Oscillator......Page 372 9.1.3 Receiver Front End......Page 373 9.1.4 Baseband Signal Processor......Page 376 9.1.4.1 BPSK Code Correlation Function......Page 380 9.1.4.2 BOC Correlation......Page 382 9.2.1 Acquisition......Page 388 9.2.2 Code Tracking......Page 393 9.2.3 Carrier Tracking......Page 398 9.2.4 Tracking Lock Detection......Page 405 9.2.5 Navigation-Message Demodulation......Page 406 9.2.6 Carrier-Power-to-Noise-Density Mea......Page 407 9.2.7 Pseudo-Range, Pseudo-Range-Rate, a......Page 408 9.3 Range Error Sources......Page 410 9.3.1 Ephemeris Prediction and Satellite......Page 411 9.3.2 Ionosphere and Troposphere Propaga......Page 412 9.3.3 Tracking Errors......Page 416 9.3.4 Multipath, Nonline-of-Sight, and D......Page 422 9.4 Navigation Processor......Page 428 9.4.1 Single-Epoch Navigation Solution......Page 430 9.4.2 Filtered Navigation Solution......Page 434 9.4.3 Signal Geometry and Navigation Sol......Page 445 9.4.4 Position Error Budget......Page 450 References......Page 452 10.1 Differential GNSS......Page 458 10.1.1 Spatial and Temporal Correlation of GNSS Errors......Page 459 10.1.2 Local and Regional Area DGNSS......Page 460 10.1.3 Wide Area DGNSS and Precise Point Positioning......Page 461 10.1.4 Relative GNSS......Page 462 10.2 Real-Time Kinematic Carrier-Phase Positioning and Attitude Determination......Page 463 10.2.1 Principles of Accumulated Delta Range Positioning......Page 464 10.2.2 Single-Epoch Navigation Solution Using Double-Differenced ADR......Page 467 10.2.3 Geometry-Based Integer Ambiguity Resolution......Page 468 10.2.4 Multifrequency Integer Ambiguity Resolution......Page 470 10.2.5 GNSS Attitude Determination......Page 471 10.3 Interference Rejection and Weak Signal Processing......Page 472 10.3.2 Antenna Systems......Page 473 10.3.3 Receiver Front-End Filtering......Page 474 10.3.4 Extended Range Tracking......Page 475 10.3.5 Receiver Sensitivity......Page 476 10.3.7 Vector Tracking......Page 477 10.4 Mitigation of Multipath Interference and Nonline-of-Sight Reception......Page 479 10.4.1 Antenna-Based Techniques......Page 480 10.4.2 Receiver-Based Techniques......Page 481 10.4.3 Navigation-Processor-Based Techniques......Page 482 10.5 Aiding, Assistance, and Orbit Prediction......Page 483 10.5.1 Acquisition and Velocity Aiding......Page 484 10.5.2 Assisted GNSS......Page 485 10.6 Shadow Matching......Page 486 References......Page 488 11.1 Aircraft Navigation Systems......Page 494 11.1.1 Distance Measuring Equipment......Page 495 11.1.2 Range-Bearing Systems......Page 500 11.1.3 Nondirectional Beacons......Page 501 11.2 Enhanced Loran......Page 502 11.2.1 Signals......Page 503 11.2.2 User Equipment and Positioning......Page 505 11.2.3 Error Sources......Page 508 11.3 Phone Positioning......Page 509 11.3.1 Proximity and Pattern Matching......Page 510 11.3.2 Ranging......Page 511 11.4.1 Iridium Positioning......Page 512 11.4.3 AM Radio Broadcasts......Page 513 11.4.5 Digital Television and Radio......Page 514 11.4.6 Generic Radio Positioning......Page 515 References......Page 516 12.1 Pseudolites......Page 520 12.1.2 Locata and Terralite XPS......Page 521 12.2 Ultrawideband......Page 522 12.2.1 Modulation Schemes......Page 523 12.2.2 Signal Timing......Page 524 12.2.3 Positioning......Page 525 12.3.1 Wireless Local Area Networks (Wi-......Page 527 12.3.2 Wireless Personal Area Networks......Page 528 12.3.4 Bluetooth Low Energy......Page 529 12.4 Underwater Acoustic Positioning......Page 530 12.5.3 Infrared......Page 533 References......Page 534 Chapter 13 Environmental Feature Matching ......Page 538 13.1 Map Matching......Page 540 13.1.1 Digital Road Maps......Page 541 13.1.2 Road Link Identification......Page 542 13.1.3 Road Positioning......Page 547 13.1.4 Rail Map Matching......Page 548 13.1.5 Pedestrian Map Matching......Page 549 13.2 Terrain-Referenced Navigation......Page 551 13.2.1 Sequential Processing......Page 552 13.2.2 Batch Processing......Page 553 13.2.4 Laser TRN......Page 556 13.2.5 Sonar TRN......Page 557 13.2.7 Terrain Database Height Aiding......Page 558 13.3 Image-Based Navigation......Page 559 13.3.1 Imaging Sensors......Page 560 13.3.2 Image Feature Comparison......Page 562 13.3.3 Position Fixing Using Individual......Page 564 13.3.5 Visual Odometry......Page 567 13.3.7 Stellar Navigation......Page 569 13.4 Other Feature-Matching Techniques......Page 571 13.4.1 Gravity Gradiometry......Page 572 References......Page 573 Chapter 14 INS/GNSS Integration ......Page 580 14.1 Integration Architectures......Page 581 14.1.1 Correction of the Inertial Naviga......Page 583 14.1.2 Loosely Coupled Integration......Page 587 14.1.3 Tightly Coupled Integration......Page 588 14.1.4 GNSS Aiding......Page 590 14.1.5 Deeply Coupled Integration......Page 592 14.2 System Model and State Selection......Page 594 14.2.1 State Selection and Observability......Page 595 14.2.2 INS State Propagation in an Inert......Page 598 14.2.3 INS State Propagation in an Earth......Page 603 14.2.4 INS State Propagation Resolved in......Page 605 14.2.5 Additional IMU Error States......Page 610 14.2.6 INS System Noise......Page 611 14.2.7 GNSS State Propagation and System......Page 614 14.2.8 State Initialization......Page 615 14.3 Measurement Models......Page 617 14.3.1 Loosely Coupled Integration......Page 619 14.3.2 Tightly Coupled Integration......Page 623 14.3.3 Deeply Coupled Integration......Page 627 14.3.4 Estimation of Attitude and Instru......Page 635 14.4.1 Differential GNSS......Page 636 14.4.2 Carrier-Phase Positioning......Page 637 14.4.3 GNSS Attitude......Page 639 14.4.4 Large Heading Errors......Page 640 14.4.5 Advanced IMU Error Modeling......Page 642 References......Page 643 15.1 Transfer Alignment......Page 648 15.1.1 Conventional Measurement Matching......Page 650 15.1.2 Rapid Transfer Alignment......Page 652 15.1.3 Reference Navigation System......Page 654 15.2.1 Coarse Alignment......Page 655 15.2.2 Fine Alignment......Page 658 15.3.1 Stationary-Condition Detection......Page 659 15.3.2 Zero Velocity Update......Page 660 15.3.3 Zero Angular Rate Update......Page 661 15.4.1 Land Vehicle Constraints......Page 662 15.4.2 Pedestrian Constraints......Page 664 References......Page 665 16.1 Integration Architectures......Page 668 16.1.1 Cascaded Single-Epoch Integration......Page 669 16.1.2 Centralized Single-Epoch Integrat......Page 672 16.1.3 Cascaded Filtered Integration......Page 673 16.1.4 Centralized Filtered Integration......Page 675 16.1.5 Federated Filtered Integration......Page 676 16.1.6 Hybrid Integration Architectures......Page 679 16.1.7 Total-State Kalman Filter Employi......Page 680 16.1.8 Error-State Kalman Filter......Page 682 16.1.9 Primary and Reversionary Moding......Page 684 16.1.10 Context-Adaptive Moding......Page 686 16.2 Dead Reckoning, Attitude, and Heigh......Page 687 16.2.1 Attitude......Page 688 16.2.2 Height and Depth......Page 694 16.2.3 Odometry......Page 695 16.2.4 Pedestrian Dead Reckoning Using S......Page 698 16.2.5 Doppler Radar and Sonar......Page 701 16.3 Position-Fixing Measurements......Page 703 16.3.1 Position Measurement Integration......Page 704 16.3.2 Ranging Measurement Integration......Page 706 16.3.3 Angular Measurement Integration......Page 711 16.3.4 Line Fix Integration......Page 715 16.3.5 Handling Ambiguous Measurements......Page 716 16.3.6 Feature Tracking and Mapping......Page 718 16.3.7 Aiding of Position-Fixing Systems......Page 719 References......Page 720 Chapter 17 Fault Detection, Integrity Monitoring, and Testing ......Page 722 17.1.2 Dead Reckoning, Attitude, and Hei......Page 723 17.1.4 Terrestrial Radio Navigation......Page 724 17.1.6 Integration Algorithm......Page 725 17.2.1 Sensor Outputs......Page 726 17.3 Kalman Filter Measurement Innovatio......Page 727 17.3.1 Innovation Filtering......Page 728 17.3.2 Innovation Sequence Monitoring......Page 730 17.3.3 Remedying Biased State Estimates......Page 732 17.4 Direct Consistency Checks......Page 733 17.4.1 Measurement Consistency Checks an......Page 734 17.4.2 Parallel Solutions......Page 736 17.5 Infrastructure-Based Integrity Moni......Page 740 17.6 Solution Protection and Performance......Page 741 17.7.1 Field Trials......Page 745 17.7.4 Software Simulation......Page 746 References......Page 747 18.1 Design and Development......Page 750 18.2 Aviation......Page 752 18.4 Land Vehicle Applications......Page 754 18.5 Rail Navigation......Page 755 18.6 Marine Navigation......Page 756 18.8 Spacecraft Navigation......Page 758 18.9 Pedestrian Navigation......Page 759 18.10 Other Applications......Page 760 18.11 Future Trends......Page 761 References......Page 762 List of Key Symbols......Page 764 Acronyms and Abbreviations......Page 772 About the Author......Page 778 DVD Contents......Page 780 Index......Page 784 This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching. It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies.. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning. This newly revised and expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and integrated navigation. It provides both an introduction to navigation systems and an in-depth treatment of INS/GNS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of long- and medium-range radio navigation, short-range positioning, and feature matching. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to co-ordinate frame, multi-frame kinematics, Earth models, gravity, and the Kalman filter. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field. DVD Included! Features nine appendices, interactive worked examples, basic GNSS and INS Matlab simulation software, and problems and exercises to help you master the material.