Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems Second Edition -- Contents -- Preface -- Acknowledgments -- Chapter 1 Introduction -- 1.1 Fundamental Concepts -- 1.2 Dead Reckoning -- 1.3 Position Fixing -- 1.3.1 Position-Fixing Methods -- 1.3.2 Signal-Based Positioning -- 1.3.3 Environmental Feature Matching -- 1.4 The Navigation System -- 1.4.1 Requirements -- 1.4.2 Context -- 1.4.3 Integration -- 1.4.4 Aiding -- 1.4.5 Assistance and Cooperation -- 1.4.6 Fault Detection -- 1.5 Overview of the Book -- Chapter 2 Coordinate Frames, Kinematics, and the Earth -- 2.1 Coordinate Frames -- 2.1.1 Earth-Centered Inertial Frame -- 2.1.2 Earth-Centered Earth-Fixed Frame -- 2.1.3 Local Navigation Frame -- 2.1.4 Local Tangent-Plane Frame -- 2.1.5 Body Frame -- 2.1.6 Other Frames -- 2.2 Attitude, Rotation, and Resolving Ax -- 2.2.1 Euler Attitude -- 2.2.2 Coordinate Transformation Matrix -- 2.2.3 Quaternion Attitude -- 2.2.4 Rotation Vector -- 2.3 Kinematics -- 2.3.1 Angular Rate -- 2.3.2 Cartesian Position -- 2.3.3 Velocity -- 2.3.4 Acceleration -- 2.3.5 Motion with Respect to a Rotating -- 2.4 Earth Surface and Gravity Models -- 2.4.1 The Ellipsoid Model of the Earth's -- 2.4.2 Curvilinear Position -- 2.4.3 Position Conversion -- 2.4.4 The Geoid, Orthometric Height, and -- 2.4.5 Projected Coordinates -- 2.4.6 Earth Rotation -- 2.4.7 Specific Force, Gravitation, and G -- 2.5 Frame Transformations -- 2.5.1 Inertial and Earth Frames -- 2.5.2 Earth and Local Navigation Frames -- 2.5.3 Inertial and Local Navigation Fram -- 2.5.4 Earth and Local Tangent-Plane Fram -- 2.5.5 Transposition of Navigation Soluti -- References -- Chapter 3 Kalman Filter-Based Esitmation -- 3.1 Introduction -- 3.1.1 Elements of the Kalman Filter -- 3.1.2 Steps of the Kalman Filter -- 3.1.3 Kalman Filter Applications -- 3.2 Algorithms and Models.

3.2.1 Definitions -- 3.2.2 Kalman Filter Algorithm -- 3.2.3 System Model -- 3.2.4 Measurement Model -- 3.2.5 Kalman Filter Behavior and State O -- 3.2.6 Closed-Loop Kalman Filter -- 3.2.7 Sequential Measurement Update -- 3.3 Implementation Issues -- 3.3.1 Tuning and Stability -- 3.3.2 Algorithm Design -- 3.3.3 Numerical Issues -- 3.3.4 Time Synchronization -- 3.3.5 Kalman Filter Design Process -- 3.4 Extensions to the Kalman Filter -- 3.4.1 Extended and Linearized Kalman Fil -- 3.4.2 Unscented Kalman Filter -- 3.4.3 Time-Correlated Noise -- 3.4.4 Adaptive Kalman Filter -- 3.4.5 Multiple-Hypothesis Filtering -- 3.4.6 Kalman Smoothing -- 3.5 The Particle Filter -- References -- Chapter 4 Inertial Sensors -- 4.1 Accelerometers -- 4.1.1 Pendulous Accelerometers -- 4.1.2 Vibrating-Beam Accelerometers -- 4.2 Gyroscopes -- 4.2.1 Optical Gyroscopes -- 4.2.2 Vibratory Gyroscopes -- 4.3 Inertial Measurement Units -- 4.4 Error Characteristics -- 4.4.1 Biases -- 4.4.2 Scale Factor and Cross-Coupling Er -- 4.4.3 Random Noise -- 4.4.4 Further Error Sources -- 4.4.5 Vibration-Induced Errors -- 4.4.6 Error Models -- References -- Chapter 5 Inertial Navigation -- 5.1 Introduction to Inertial Navigation -- 5.2 Inertial-Frame Navigation Equations -- 5.2.1 Attitude Update -- 5.2.2 Specific-Force Frame Transformatio -- 5.2.3 Velocity Update -- 5.2.4 Position Update -- 5.3 Earth-Frame Navigation Equations -- 5.3.1 Attitude Update -- 5.3.2 Specific-Force Frame Transformatio -- 5.3.3 Velocity Update -- 5.3.4 Position Update -- 5.4 Local-Navigation-Frame Navigation Eq -- 5.4.1 Attitude Update -- 5.4.2 Specific-Force Frame Transformatio -- 5.4.3 Velocity Update -- 5.4.4 Position Update -- 5.4.5 Wander-Azimuth Implementation -- 5.5 Navigation Equations Optimization -- 5.5.1 Precision Attitude Update -- 5.5.2 Precision Specific-Force Frame Tra.

5.5.3 Precision Velocity and Position Up -- 5.5.4 Effects of Sensor Sampling Interva -- 5.5.5 Design Tradeoffs -- 5.6 Initialization and Alignment -- 5.6.1 Position and Velocity Initializati -- 5.6.2 Attitude Initialization -- 5.6.3 Fine Alignment -- 5.7 INS Error Propagation -- 5.7.1 Short-Term Straight-Line Error Pro -- 5.7.2 Medium- and Long-Term Error Propag -- 5.7.3 Maneuver-Dependent Errors -- 5.8 Indexed IMU -- 5.9 Partial IMU -- References -- Chapter 6 Dead Reckoning, Attitude, and Height Measurement -- 6.1 Attitude Measurement -- 6.1.1 Magnetic Heading -- 6.1.2 Marine Gyrocompass -- 6.1.3 Strapdown Yaw-Axis Gyro -- 6.1.4 Heading from Trajectory -- 6.1.5 Integrated Heading Determination -- 6.1.6 Accelerometer Leveling and Tilt Se -- 6.1.7 Horizon Sensing -- 6.1.8 Attitude and Heading Reference Sys -- 6.2 Height and Depth Measurement -- 6.2.1 Barometric Altimeter -- 6.2.2 Depth Pressure Sensor -- 6.2.3 Radar Altimeter -- 6.3 Odometry -- 6.3.1 Linear Odometry -- 6.3.2 Differential Odometry -- 6.3.3 Integrated Odometry and Partial IM -- 6.4 Pedestrian Dead Reckoning Using Step -- 6.5 Doppler Radar and Sonar -- 6.6 Other Dead-Reckoning Techniques -- 6.6.1 Correlation-Based Velocity Measure -- 6.6.2 Air Data -- 6.6.3 Ship's Speed Log -- References -- Chapter 7 Principles of Radio Positioning -- 7.1 Radio Positioning Configurations and -- 7.1.1 Self-Positioning and Remote Positi -- 7.1.2 Relative Positioning -- 7.1.3 Proximity -- 7.1.4 Ranging -- 7.1.5 Angular Positioning -- 7.1.6 Pattern Matching -- 7.1.7 Doppler Positioning -- 7.2 Positioning Signals -- 7.2.1 Modulation Types -- 7.2.2 Radio Spectrum -- 7.3 User Equipment -- 7.3.1 Architecture -- 7.3.2 Signal Timing Measurement -- 7.3.3 Position Determination from Rangin -- 7.4 Propagation, Error Sources, and Posi -- 7.4.1 Ionosphere, Troposphere, and Surfa.

7.4.2 Attenuation, Reflection, Multipath -- 7.4.3 Resolution, Noise, and Tracking Er -- 7.4.4 Transmitter Location and Timing Er -- 7.4.5 Effect of Signal Geometry -- References -- Chapter 8 GNSS: Fundamentals, Signals, and Satellites -- 8.1 Fundamentals of Satellite Navigation -- 8.1.1 GNSS Architecture -- 8.1.2 Signals and Range Measurement -- 8.1.3 Positioning -- 8.1.4 Error Sources and Performance Limi -- 8.2 The Systems -- 8.2.1 Global Positioning System -- 8.2.2 GLONASS -- 8.2.3 Galileo -- 8.2.4 Beidou -- 8.2.5 Regional Systems -- 8.2.6 Augmentation Systems -- 8.2.7 System Compatibility -- 8.3 GNSS Signals -- 8.3.1 Signal Types -- 8.3.2 Global Positioning System -- 8.3.3 GLONASS -- 8.3.4 Galileo -- 8.3.7 Augmentation Systems -- 8.4 Navigation Data Messages -- 8.4.1 GPS -- 8.4.2 GLONASS -- 8.4.3 Galileo -- 8.4.4 SBAS -- 8.4.5 Time Base Synchronization -- 8.5.4 Elevation and Azimuth -- References -- Chapter 9 GNSS: User Equipment Processing and Errors -- 9.1 Receiver Hardware and Antenna -- 9.1.1 Antennas -- 9.1.2 Reference Oscillator -- 9.1.3 Receiver Front End -- 9.1.4 Baseband Signal Processor -- 9.2 Ranging Processor -- 9.2.1 Acquisition -- 9.2.2 Code Tracking -- 9.2.3 Carrier Tracking -- 9.2.4 Tracking Lock Detection -- 9.2.5 Navigation-Message Demodulation -- 9.2.6 Carrier-Power-to-Noise-Density Mea -- 9.2.7 Pseudo-Range, Pseudo-Range-Rate, a -- 9.3 Range Error Sources -- 9.3.1 Ephemeris Prediction and Satellite -- 9.3.2 Ionosphere and Troposphere Propaga -- 9.3.3 Tracking Errors -- 9.3.4 Multipath, Nonline-of-Sight, and D -- 9.4 Navigation Processor -- 9.4.1 Single-Epoch Navigation Solution -- 9.4.2 Filtered Navigation Solution -- 9.4.3 Signal Geometry and Navigation Sol -- 9.4.4 Position Error Budget -- References -- Chapter 10 GNSS: Advanced Techniques -- 10.1 Differential GNSS -- 10.1.1 Spatial and Temporal Correlation of GNSS Errors.

10.1.2 Local and Regional Area DGNSS -- 10.1.3 Wide Area DGNSS and Precise Point Positioning -- 10.1.4 Relative GNSS -- 10.2 Real-Time Kinematic Carrier-Phase Positioning and Attitude Determination -- 10.2.1 Principles of Accumulated Delta Range Positioning -- 10.2.2 Single-Epoch Navigation Solution Using Double-Differenced ADR -- 10.2.3 Geometry-Based Integer Ambiguity Resolution -- 10.2.4 Multifrequency Integer Ambiguity Resolution -- 10.2.5 GNSS Attitude Determination -- 10.3 Interference Rejection and Weak Signal Processing -- 10.3.1 Sources of Interference, Jamming, and Attenuation -- 10.3.2 Antenna Systems -- 10.3.3 Receiver Front-End Filtering -- 10.3.4 Extended Range Tracking -- 10.3.5 Receiver Sensitivity -- 10.3.6 Combined Acquisition and Tracking -- 10.3.7 Vector Tracking -- 10.4 Mitigation of Multipath Interference and Nonline-of-Sight Reception -- 10.4.1 Antenna-Based Techniques -- 10.4.2 Receiver-Based Techniques -- 10.4.3 Navigation-Processor-Based Techniques -- 10.5 Aiding, Assistance, and Orbit Prediction -- 10.5.1 Acquisition and Velocity Aiding -- 10.5.2 Assisted GNSS -- 10.5.3 Orbit Prediction -- 10.6 Shadow Matching -- References -- Chapter 11 Long- and Medium-Range Radio Navigation -- 11.1 Aircraft Navigation Systems -- 11.1.1 Distance Measuring Equipment -- 11.1.2 Range-Bearing Systems -- 11.1.3 Nondirectional Beacons -- 11.1.4 JTIDS/MIDS Relative Navigation -- 11.1.5 Future Air Navigation Systems -- 11.2 Enhanced Loran -- 11.2.1 Signals -- 11.2.2 User Equipment and Positioning -- 11.2.3 Error Sources -- 11.2.4 Differential Loran -- 11.3 Phone Positioning -- 11.3.1 Proximity and Pattern Matching -- 11.3.2 Ranging -- 11.4 Other Systems -- 11.4.1 Iridium Positioning -- 11.4.2 Marine Radio Beacons -- 11.4.3 AM Radio Broadcasts -- 11.4.4 FM Radio Broadcasts -- 11.4.5 Digital Television and Radio -- 11.4.6 Generic Radio Positioning.

References.