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Principles of GNSS, inertial, and multisensor integrated navigation systems. (English)
London: Artech House (ISBN 978-1-58053-255-6/hbk; 978-1-58053-262-4 /ebook). xvi, 518~p. (2008).
The aims of the presented book are: - to provide an introduction to navigation systems suitable for those with no prior knowledge; - to describe the principles of operation of satellite, inertial, and many other navigation technologies, both qualitatively and mathematically; - to review the state of the art in navigation technology; - to provide a detailed treatment of integrated navigation. The book begins with a basic introduction to the main principles of navigation and a summary of the different technologies. The different coordinate frames, attitude representations, multiframe kinematics, Earth models, and gravity are carefully explained. To cover the state of art in navigation technology, the book goes beyond global navigation satellite systems (GNSS) and inertial navigation to describe terrestrial radio navigation, dead reckoning, and future matching techniques. Topics covered include Loran, wireless local network (WLAN) and ultrawideband (UWB) positioning, magnetometers, attitude and heading reference systems (AHRS), altimeters, odometers, pedestrian dead reckoning, Doppler radar and sonar, terrain-referenced navigation, image matching, and map matching. The GNSS chapters describe the legacy and new Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), and Galileo signals together and cover a range of advanced topics, including differential and carrier-phase positioning, GNSS attitude, multipath mitigation, and operation in poor signal-to-noise environments. Inertial navigation coverage includes accelerometer and gyroscope technology, navigation equations, initialization, alignment, and zero velocity updates. Integrated navigation is served by a navigation-focused chapter on Kalman filtering, together with chapters on navigation system (INS)/GNSS integration, including deep, and on multisensor integration. To support these, the chapters on the navigation sensors include comprehensive description of the processing chains and error sources. The book concludes with a chapter on integrity monitoring, showing how a navigation system can detect and recover from faults. The book is divided into four parts. Part I comprises a nonmathematical introduction, while Part II provides the mathematical grounding to describe navigation systems and their integration. Part III describes the navigation systems, starting with inertial navigation, moving on satellite navigation, and finishing with the other technologies. Part IV describes integrated navigation, including fault detection and integrity monitoring. Appendixes on vectors, matrices, and statistics, as well as full lists of symbols and acronyms complete the book The book is aimed at professional scientists and engineers in industry, academia, and government, and at students at final year undergraduate, master’s, and Ph.D. levels.
Reviewer: Bojidar Cheshankov (Sofia)
Classification: M55
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