Product Description

An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering

Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.

Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include:

• GNSS signal integrity with SBAS
• Mitigation of multipath, including results
• Ionospheric delay estimation with Kalman filters
• New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data
• New algorithms for GEO with L1 /L5 frequencies and clock steering
• Implementation of mechanization equations in numerically stable algorithms

To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

Product Details

• Amazon Sales Rank: #412827 in Books
• Published on: 2007-01-22
• Original language: English
• Number of items: 1
• Binding: Hardcover
• 552 pages

Review
"This work is a necessary update and is recommended for academic technology collections." (E-STREAMS, September 2007)

From the Back Cover
An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering

Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.

Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include:

• GNSS signal integrity with SBAS
• Mitigation of multipath, including results
• Ionospheric delay estimation with Kalman filters
• New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data
• New algorithms for GEO with L1 /L5 frequencies and clock steering
• Implementation of mechanization equations in numerically stable algorithms

To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

About the Author
MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineering in theCollege of Engineering and Computer Science at California State University, Fullerton.

LAWRENCE R. WEILL, PhD, is Professor Emeritus of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton.

ANGUS P. ANDREWS, PhD, is Senior Scientist (Retired) at the Rockwell Science Center in Thousand Oaks, California.

Customer Reviews

GPS World Magazine reviewer recommends this book
Here are some quotes from a review of this book in GPS World, July 2001, pp 46-47, by Dr. John Angus, a consultant and researcher in the area of GPS-aided navigation systems, AND professor at Claremont Graduate University, Claremont, CA. Dr. Angus' credentials qualify him to review this book.

"Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them "glued" together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided."

"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."

"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."

"...recommended for personal and professional libraries."

This is an application-oriented book, which as such, does not include detailed mathematical derivations. It does provide Kalman filter algorithms (on floppy and in text), but if one needs the theory of Kalman filtering behind these, one needs to use a Kalman filtering text, such as Kalman Filtering Theory & Practice Using MATLAB (Second Edition), Wiley 2001, by Grewal and Andrews. The latter book gives all of the methods in square root filtering algorithms and derivations and more. If the "Asian Reviewer" is most interested in Kalman filtering, he/she would be better advised to buy a book on Kalman filtering.

GPS World Magazine reviewer recommends this book
Here are some quotes from a review of this book in GPS World, July 2001, pp 46-47, by Dr. John Angus, a consultant and researcher in the area of GPS-aided navigation systems, AND professor at Claremont Graduate University, Claremont, CA. Dr. Angus' credentials qualify him to review this book.

"Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them "glued" together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided."

"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."

"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."

"...recommended for personal and professional libraries."

This is an application-oriented book, which as such, does not include detailed mathematical derivations. It does provide Kalman filter algorithms (on floppy and in text), but if one needs the theory of Kalman filtering behind these, one needs to use a Kalman filtering text, such as Kalman Filtering Theory & Practice Using MATLAB (Second Edition), Wiley 2001, by Grewal and Andrews. The latter book gives all of the methods in square root filtering algorithms and derivations and more. If the "Asian Reviewer" is most interested in Kalman filtering, he/she would be better advised to buy a book on Kalman filtering.

GPS, INS and Kalman Filtering finally in one single book
This book puts all together concepts and theories normally found only in separated books. GPS, inertial navigation and how to integrate both things normally require reading a lot of different articles and journals. These subjects are individually complex and demanding but its modern GPS concepts approach were deep enough to allow the proper correlation between the inertial theory and GPS through the Kalman Filtering. The book demands some previous and basic concepts knowledge regarding filtering. And if you are a self-made student you will miss the answers for the proposed problems which worth trying to solve. But it should not prevent you to buy this book. It is clear that the authors are not only one of main expertise on their area but know how to transmit their great experience.