Product Description

The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:
* Representing the problem in a mathematical model
* Analyzing the performance of the GPS sensor as a function of model parameters
* Implementing the mechanization equations in numerically stable algorithms
* Assessing computation requirements
* Testing the validity of results
* Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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: #1046781 in Books
• Published on: 2000-12-29
• Original language: English
• Number of items: 1
• Binding: Hardcover
• 416 pages

Review
"A text for an introductory course in the technology at the senior or first-level graduate level that practicing engineers and scientists could also use for self-study." (SciTech Book News, Vol. 25, No. 4, December 2001)

From the Back Cover
The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:

• Representing the problem in a mathematical model
• Analyzing the performance of the GPS sensor as a function of model parameters
• Implementing the mechanization equations in numerically stable algorithms
• Assessing computation requirements
• Testing the validity of results
• Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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 the College of Engineering and Computer Science at California State University, Fullerton.
LAWRENCE R. WEILL, PhD, is Professor of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton.
ANGUS P. ANDREWS, PhD, is Senior Scientist 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.