Global Navigation Satellite Systems, Inertial Navigation, and Integration

Mohinder S. Grewal, Angus P. Andrews, Chris G. Bartone

• Publisher: Wiley
• Year: 2020
• ISBN:
  9781119547815
• Edition: 4
• Topic: Physical Sciences
• Subtopic: Mechanics

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, 4 th 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.

1
Introduction

A book on navigation? Fine reading for a child of six!¹

1.1 Navigation

During the European Age of Discovery, in the fifteenth to seventeenth centuries, the word navigation was synthesized from the Latin noun navis (ship) and the Latin verb stem agare (to do, drive, or lead) to designate the operation of a ship on a voyage from A to B – or the art thereof.

In this context, the word art is used in the sense of a skill, craft, method, or practice. The Greek word for it is τεχνυ, with which the Greek suffix ‐λoγια (the study thereof) gives us the word technology.

1.1.1 Navigation‐Related Technologies

In current engineering usage, the art of getting from A to B is commonly divided into three interrelated technologies:

• Navigation refers to the art of determining the current location of an object – usually a vehicle of some sort, which could be in space, in the air, on land, on or under the surface of a body of water, or underground. It could also be a comet, a projectile, a drill bit, or anything else we would like to locate and track. In modern usage, A and B may refer to the object's current and intended dynamic state, which can also include its velocity, attitude, or attitude rate relative to other objects. The practical implementation of navigation generally requires observations, measurements, or sensors to measure relevant variables, and methods of estimating the state of the object from the measured values.
• Guidance refers to the art of determining a suitable trajectory for getting the object to a desired state, which may include position, velocity, attitude, or attitude rate. What would be considered a “suitable” trajectory may involve such factors as cost, consumables and/or time required, risks involved, or constraints imposed by existing transportation corridors and geopolitical boundaries.
• Control refers to the art of determining what actions (e.g. applied forces or torques) may be required for getting the object to follow the desired trajectory.

These distinctions can become blurred – especially in applications when they share hardware and software. This has happened in missile guidance [1], where the focus is on getting to B, which may be implemented without requiring the intermediate locations. The distinctions are clearer in what is called “Global Positioning System (GPS) navigation” for highway vehicles:

• Navigation is implemented by the GPS receiver, which gives the user an estimate of the current location (A) of the vehicle.
• Guidance is implemented as route planning, which finds a route (trajectory) from A to the intended destination B, using the connecting road system and applying user‐specified measures of route suitability (e.g. travel distance or total time).
• Control is implemented as a sequence of requested driver actions to follow the planned route.

1.1.2 Navigation Modes

From time immemorial, we have had to solve the problem of getting from A to B, and many solution methods have evolved. Solutions are commonly grouped into five basic navigation modes, listed here in their approximate chronological order of discovery:

• Pilotage essentially relies on recognizing your surroundings to know where you are (A) and how you are oriented relative to where you want to be (B). It is older than human kind.
• Celestial navigation uses relevant angles between local vertical and celestial objects (e.g. the Sun, planets, moons, stars) with known directions to estimate orientation, and possibly location on the surface of the Earth. Some birds have been using celestial navigation in some form for millions of years. Because the Earth and these celestial objects are moving with respect to one another, accurate celestial navigation requires some method for estimating time. By the early eighteenth century, it was recognized that estimating longitude with comparable accuracy to that of latitude (around half a degree at that time) would require clocks accurate to a few minutes over long sea voyages. The requisite clock technology was not developed until the middle of the eighteenth century, by John Harrison (1693–1776). The development of atomic clocks in the twentieth century would also play a major role in the development of satellite‐based navigation.
• Dead reckoning relies on knowing where you started from, plus some form of heading information and some estimate of speed and elapsed time to determine the distance traveled. Heading may be determined from celestial observations or by using a magnetic compass. Dead reckoning is generally implemented by plotting lines connecting successive locations on a chart, a practice at least as old as the works of Claudius Ptolemy (∼85–168 CE).
• Radio navigation relies on radio‐frequency sources with known locations, suitable receiver technologies, signal structure at the transmitter, and signal availability at the receiver. Radio navigation technology using land‐fixed transmitters has been evolving for about a century. Radio navigation technologies using satellites began soon after the first artificial satellite was launched.
• Inertial navigation is much like an automated form of dead reckoning. It relies on knowing your initial position, velocity, and attitude, and thereafter measuring and integrating your acceleratio...

Table of contents

• Cover
• Table of Contents
• Preface to the Fourth Edition
• Acknowledgments
• About the Authors
• Acronyms
• About the Companion Website
• 1 Introduction
• 2 Fundamentals of Satellite Navigation Systems
• 3 Fundamentals of Inertial Navigation
• 4 GNSS Signal Structure, Characteristics, and Information Utilization
• 5 GNSS Antenna Design and Analysis
• 6 GNSS Receiver Design and Analysis
• 7 GNSS Measurement Errors
• 8 Differential GNSS
• 9 GNSS and GEO Signal Integrity
• 10 Kalman Filtering
• 11 Inertial Navigation Error Analysis
• 12 GNSS/INS Integration
• Appendix A: Software
• Appendix B: Coordinate Systems and TransformationsCoordinate Systems and Transformations
• Appendix C: PDF Ambiguity Errors in Nonlinear Kalman FilteringPDF Ambiguity Errors in Nonlinear Kalman Filtering
• Index
• End User License Agreement