Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems -- Contents v -- Preface -- PART I Introduction 1 -- Chapter 1 Introduction 3 -- 1.1 What Is Navigation? -- 1.2 Inertial Navigation -- 1.3 Radio and Satellite Navigation -- 1.4 Feature Matching -- 1.5 The Complete Navigation System -- References -- PART II Navigation Mathematics -- Chapter 2 Coordinate Frames, Kinematics, and the Earth 17 -- 2.1 Coordinate Frames -- 2.2 Kinematics -- 2.3 Earth Surface and Gravity Models -- 2.4 Frame Transformations -- References -- Selected Bibliography -- Endnotes -- Chapter 3 The Kalman Filter 55 -- 3.1 Introduction -- 3.2 Algorithms and Models -- 3.3 Implementation Issues -- 3.4 Extensions to the Kalman Filter -- References -- Selected Bibliography -- Endnotes -- Part III Navigation Systems -- Chapter 4 Inertial Sensors 97 -- 4.1 Accelerometers -- 4.2 Gyroscopes -- 4.3 Inertial Measurement Units -- 4.4 Error Characteristics -- References -- Chapter 5 Inertial Navigation 121 -- 5.1 Inertial-Frame Navigation Equations -- 5.2 Earth-Frame Navigation Equations -- 5.3 Local-Navigation-Frame Navigation Equations -- 5.4 Navigation Equations Precision -- 5.5 Initialization and Alignment -- 5.6 INS Error Propagation -- 5.7 Platform INS -- 5.8 Horizontal-Plane Inertial Navigation -- References -- Selected Bibliography -- Endnotes -- Chapter 6 Satellite Navigation Systems 161 -- 6.1 Fundamentals of Satellite Navigation -- 6.2 Global Positioning System -- 6.3 GLONASS -- 6.4 Galileo -- 6.5 Regional Navigation Systems -- 6.6 GNSS Interoperability -- References -- Selected Bibliography -- Chapter 7 Satellite Navigation Processing, Errors, and Geometry 195 -- 7.1 Satellite Navigation Geometry -- 7.2 Receiver Hardware and Antenna -- 7.3 Ranging Processor -- 7.4 Range Error Sources -- 7.5 Navigation Processor -- References -- Selected Bibliography.

Endnotes -- Chapter 8 Advanced Satellite Navigation 279 -- 8.1 Differential GNSS -- 8.2 Carrier-Phase Positioning and Attitude -- 8.3 Poor Signal-to-Noise Environments -- 8.4 Multipath Mitigation -- 8.5 Signal Monitoring -- 8.6 Semi-Codeless Tracking -- References -- Chapter 9 Terrestrial Radio Navigation 303 -- 9.1 Point-Source Systems -- 9.2 Loran -- 9.3 Instrument Landing System -- 9.4 Urban and Indoor Positioning -- 9.5 Relative Navigation -- 9.6 Tracking -- 9.7 Sonar Transponders -- References -- Chapter 10 Dead Reckoning, Attitude, and Height Measurement 321 -- 10.1 Attitude Measurement -- 10.2 Height and Depth Measurement -- 10.3 Odometers -- 10.4 Pedestrian Dead Reckoning -- 10.5 Doppler Radar and Sonar -- 10.6 Other Dead-Reckoning Techniques -- References -- Chapter 11 Feature Matching 345 -- 11.1 Terrain-Referenced Navigation -- 11.2 Image Matching -- 11.3 Map Matching -- 11.4 Other Feature-Matching Techniques -- References -- Selected Bibliography -- PART IV Integrated Navigation -- Chapter 12 INS/GNSS Integration 363 -- 12.1 Integration Architectures -- 12.2 System Model and State Selection -- 12.3 Measurement Models -- 12.4 Advanced INS/GNSS Integration -- References -- Selected Bibliography -- Endnotes -- Chapter 13 INS Alignment and Zero Velocity Updates 407 -- 13.1 Transfer Alignment -- 13.2 Quasi-Stationary Alignment with Unknown Heading -- 13.3 Quasi-Stationary Fine Alignment and Zero Velocity Updates -- References -- Selected Bibliography -- Chapter 14 Multisensor Integrated Navigation 419 -- 14.1 Integration Architectures -- 14.2 Terrestrial Radio Navigation -- 14.3 Dead Reckoning, Attitude, and Height Measurement -- 14.4 Feature Matching -- References -- Chapter 15 Fault Detection and Integrity Monitoring 451 -- 15.1 Failure Modes -- 15.2 Range Checks -- 15.3 Kalman Filter Measurement Innovations -- 15.4 Direct Consistency Checks.

15.5 Certified Integrity Monitoring -- References -- Appendix A Vectors and Matrices 471 -- A.1 Introduction to Vectors -- A.2 Introduction to Matrices -- A.3 Special Matrix Types -- A.4 Matrix Inversion -- A.5 Calculus -- References -- Appendix B Statistical Measures 479 -- B.1 Mean, Variance, and Standard Deviation -- B.2 Probability Density Function -- B.3 Gaussian Distribution -- B.4 Chi-Square Distribution -- References -- List of Symbols 485 -- Matrices -- Vectors -- Scalars -- Subscripts and Superscripts -- Qualifiers -- List of Acronyms and Abbreviations 497 -- About the Author 505.