Aided Navigation: GPS with High Rate Sensors

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McGraw Hill Professional, Apr 3, 2008 - Technology & Engineering - 500 pages

Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications

Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design.

Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features:

  • End-of-chapter exercises throughout Part I
  • In-depth case studies of aided navigation systems
  • Numerous Matlab-based examples
  • Appendices define notation, review linear algebra, and discuss GPS receiver interfacing
  • Source code and sensor data to support examples is available through the publisher-supported website

Inside this Complete Guide to Designing Aided Navigation Systems

• Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS

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Page 264 - GPS provides two levels of service — a Standard Positioning Service (SPS) and a Precise Positioning Service (PPS). SPS is a positioning and timing service, which is available to all GPS users on a continuous, worldwide basis. SPS is provided on the GPS LI frequency, which contains a coarse acquisition (C/A) code and a navigation data message.
Page 64 - The transfer function, which is defined as the ratio between the Laplace transform of the output divided by the Laplace transform of the input...
Page 487 - GPS system time at time of transmission, ie, GPS time corrected for transit time (range/speed of light). Furthermore...
Page 461 - Second, the number of columns in A and the number of rows in B must be the same since otherwise there will not always be corresponding elements to multiply Definition 2.15.
Page 468 - AT, while the last (n — r) columns of V form an orthonormal basis for the null space of A. Additional properties of the singular value decomposition and algorithms for its computation can be found in [59].
Page 524 - Computing Integrals Involving the Matrix Exponential", IEEE Transactions on Automatic Control, Vol.
Page 518 - Fofonoff and RC Millard, Jr., "Algorithms for computation of fundamental properties of seawater," UNESCO Technical Papers in Marine Science (UNESCO, 1983).
Page 468 - B is positive semidefinite if and only if xTBx > 0 for all nonzero vectors x of compatible size. Process with independent increments: Process {x,} such that, for every ordered set...
Page 263 - The control segment consists of a system of tracking stations located around the world including six monitor stations, and a master control station.
Page 468 - The singular value decomposition. The singular value decomposition (SVD) of a matrix A € Rmxn is a matrix decomposition of great theoretical and practical importance for the treatment of least squares problems.

About the author (2008)

About the Author Jay A. Farrell, Ph.D., is a Professor and former Chair of the Department of Electrical Engineering at the University of California, Riverside. Dr. Farrell is the author of over 150 technical publications, as well as co-author of the books, Adaptive Approximation Based Control: Unifying Neural, Fuzzy and Traditional Adaptive Approximation Approaches and McGraw-Hill's The Global Positioning System and Inertial Navigation.

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