Global navigation satellite systems, inertial navigation, and integration. (2020)

• Record Type: Book
• Further Information: Note: Mohinder S. Grewal, Angus P. Andrews, Chris G. Bartone.
• Authors: Grewal, Mohinder S; Andrews, Angus P; Bartone, Chris
• Contents: 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 4.4 Galileo 132 4.4.1 Constellation and Levels of Services 132 4.4.2 Navigation Data and Signals 132 4.5 BeiDou 134 4.6 QZSS 135 4.7 IRNSS/NAVIC 138 Problems 138 References 141 5 GNSS Antenna Design and Analysis 145 5.1 Applications 145 5.2 GNSS Antenna Performance Characteristics 145 5.2.1 Size and Cost 145 5.2.2 Frequency and Bandwidth Coverage 146 5.2.3 Radiation Pattern Characteristics 147 5.2.4 Antenna Polarization and Axial Ratio 149 5.2.5 Directivity, Efficiency, and Gain of a GNSS Antenna 152 5.2.6 Antenna Impedance, Standing Wave Ratio, and Return Loss 153 5.2.7 Antenna Bandwidth 154 5.2.8 Antenna Noise Figure 155 5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design 157 5.4 GNSS Antenna Technologies 159 5.4.1 Dipole-Based GNSS Antennas 159 5.4.2 GNSS Patch Antennas 160 5.4.3 Survey-Grade/Reference GNSS Antennas 169 5.5 Principles of Adaptable Phased-Array Antennas 173 5.5.1 Digital Beamforming Adaptive Antenna Array Formulations 176 5.5.2 STAP 179 5.5.3 SFAP 179 5.5.4 Configurations of Adaptable Phased-Array Antennas 179 5.5.5 Relative Merits of Adaptable Phased-Array Antennas 180 5.6 Application Calibration/Compensation Considerations 181 Problems 183 References 184 6 GNSS Receiver Design and Analysis 189 6.1 Receiver Design Choices 189 6.1.1 Global Navigation Satellite System (GNSS) Application to Be Supported 189 6.1.2 Single or Multifrequency Support 189 6.1.3 Number of Channels 191 6.1.4 Code Selections 191 6.1.5 Differential Capability 192 6.1.6 Aiding Inputs 194 6.2 Receiver Architecture 195 6.2.1 Radio Frequency (RF) Front End 195 6.2.2 Frequency Down-Conversion and IF Amplification 197 6.2.2.1 SNR 198 6.2.3 Analog-to-Digital Conversion and Automatic Gain Control 199 6.2.4 Baseband Signal Processing 200 6.3 Signal Acquisition and Tracking 200 6.3.1 Hypothesize About the User Location 201 6.3.2 Hypothesize About Which GNSS Satellites Are Visible 201 6.3.3 Signal Doppler Estimation 202 6.3.4 Search for Signal in Frequency and Code Phase 202 6.3.5 Signal Detection and Confirmation 207 6.3.6 Code Tracking Loop 210 6.3.7 Carrier Phase Tracking Loops 215 6.3.8 Bit Synchronization 219 6.3.9 Data Bit Demodulation 219 6.4 Extraction of Information for User Solution 220 6.4.1 Signal Transmission Time Information 220 6.4.2 Ephemeris Data for Satellite Position and Velocity 221 6.4.3 Pseudorange Measurements Formulation Using Code Phase 221 6.4.4 Measurements Using Carrier Phase 223 6.4.5 Carrier Doppler Measurement 225 6.4.6 Integrated Doppler Measurements 226 6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and Frequency Estimations 228 6.5.1 Theoretical Error Bounds for Code Phase Measurement 229 6.5.2 Theoretical Error Bounds for Carrier Phase Measurements 230 6.5.3 Theoretical Error Bounds for Frequency Measurement 231 6.6 High-Sensitivity A-GPS Systems 232 6.6.1 How Assisting Data Improves Receiver Performance 233 6.6.2 Factors Affecting High-Sensitivity Receivers 237 6.7 Software-Defined Radio (SDR) Approach 239 6.8 Pseudolite Considerations 240 Problems 242 References 244 7 GNSS Measurement Errors 249 7.1 Source of GNSS Measurement Errors 249 7.2 Ionospheric Propagation Errors 249 7.2.1 Ionospheric Delay Model 251 7.2.2 GNSS SBAS Ionospheric Algorithms 253 7.3 Tropospheric Propagation Errors 262 7.4 The Multipath Problem 263
• Edition: Fourth edition
• Publisher Details: Hoboken, New Jersey : John Wiley & Sons, Inc
• Publication Date: 2020
• Extent: 1 online resource
• Subjects: 910.285; Global Positioning System; Inertial navigation; Kalman filtering
• Languages: English
• ISBNs: 9781119547815
• Notes: Note: Includes bibliographical references and index.; Note: Description based on CIP data; resource not viewed.
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.