Preface xxvii Acknowledgments xxxi Acronyms and Abbreviations xxxiii 1 Introduction, 1 1.1 Navigation, 1 1.2 GNSS Overview, 4 1.3 Inertial Navigation Overview, 10 1.4 GNSS/INS Integration Overview, 30 Problems, 32 References, 32 2 Fundamentals of Satellite Navigation Systems, 35 2.1 Navigation Systems Considered, 35 2.2 Satellite Navigation, 36 2.3 Time and GPS, 46 2.4 Example: User Position Calculations with No Errors, 48 Problems, 51 References, 53 3 Fundamentals of Inertial Navigation, 54 3.1 Chapter Focus, 54 3.2 Basic Terminology, 55 3.3 Inertial Sensor Error Models, 59 3.4 Sensor Calibration and Compensation, 63 3.5 Earth Models, 68 3.6 Hardware Implementations, 77 3.7 Software Implementations, 83 3.8 INS Performance Standards, 101 3.9 Testing and Evaluation, 102 3.10 Summary, 103 Problems, 104 References, 106 4 GNSS Signal Structure, Characteristics, and Information Utilization, 108 4.1 Legacy GPS Signal Components, Purposes, and Properties, 109 4.2 Modernization of GPS, 132 4.3 GLONASS Signal Structure and Characteristics, 141 4.4 Galileo, 144 4.5 Compass/BD, 146 4.6 QZSS, 146 Problems, 148 References, 150 5 GNSS Antenna Design and Analysis, 152 5.1 Applications, 152 5.2 GNSS Antenna Performance Characteristics, 152 5.3 Computational Electromagnetic Models (CEMs) for GNSS Antenna Design, 164 5.4 GNSS Antenna Technologies, 166 5.5 Principles of Adaptable Phased-Array Antennas, 180 5.6 Application Calibration/Compensation Considerations, 187 Problems, 189 References, 190 6 GNSS Receiver Design and Analysis, 193 6.1 Receiver Design Choices, 193 6.2 Receiver Architecture, 199 6.3 Signal Acquisition and Tracking, 204 6.4 Extraction of Information for User Solution, 223 6.5 Theoretical Considerations in Pseudorange, Carrier Phase, and Frequency Estimations, 231 6.6 High-Sensitivity A-GPS Systems, 235 6.7 Software-Defi ned Radio (SDR) Approach, 242 6.8 Pseudolite Considerations, 243 Problems, 244 References, 246 7 GNSS Data Errors, 250 7.1 Data Errors, 250 7.2 Ionospheric Propagation Errors, 251 7.3 Tropospheric Propagation Errors, 263 7.4 The Multipath Problem, 264 7.5 Methods of Multipath Mitigation, 266 7.6 Theoretical Limits for Multipath Mitigation, 283 7.7 Ephemeris Data Errors, 285 7.8 Onboard Clock Errors, 285 7.9 Receiver Clock Errors, 286 7.10 SA Errors, 288 7.11 Error Budgets, 288 Problems, 289 References, 291 8 Differential GNSS, 293 8.1 Introduction, 293 8.2 Descriptions of Local-Area Differential GNSS (LADGNSS), Wide-Area Differential GNSS (WADGNSS), and Space-Based Augmentation System (SBAS), 294 8.3 GEO with L1L5 Signals, 299 8.4 GUS Clock Steering Algorithm, 307 8.5 GEO Orbit Determination (OD), 310 8.6 Ground-Based Augmentation System (GBAS), 316 8.7 Measurement/Relative-Based DGNSS, 319 8.8 GNSS Precise Point Positioning Services and Products, 323 Problems, 325 References, 326 9 GNSS and GEO Signal Integrity, 328 9.1 Introduction, 328 9.2 SBAS and GBAS Integrity Design, 332 Problems, 325 References, 326 10 Kalman Filtering, 350 10.1 Introduction, 350 10.2 Kalman Filter Correction Update, 354 10.3 Kalman Filter Prediction Update, 365 10.4 Summary of Kalman Filter Equations, 375 10.5 Accommodating Time-Correlated Noise, 377 10.6 Nonlinear and Adaptive Implementations, 384 10.7 Kalman Bucy Filter, 395 10.8 Host Vehicle Tracking Filters for GNSS, 397 10.9 Alternative Implementations, 413 10.10 Summary, 425 Problems, 426 References, 428 11 Inertial Navigation Error Analysis, 430 11.1 Chapter Focus, 430 11.2 Errors in the Navigation Solution, 432 11.3 Navigation Error Dynamics, 442 11.4 Inertial Sensor Noise, 459 11.5 Sensor Compensation Errors, 461 11.6 Software Sources, 467 11.7 Summary, 468 Problems, 470 References, 471 12 GNSS/INS Integration, 472 12.1 Chapter Focus, 472 12.2 GNSS/INS Integration Overview, 473 12.3 Unifi ed Model for GNSS/INS Integration, 479 12.4 Performance Analysis, 485 12.5 Other Integration Issues, 490 12.6 Summary, 492 Problem, 493 References, 494 Appendix A Software, 495 Appendix B Coordinate Systems and Transformations, 500 Index 551
