Inertial Navigation Systems with Geodetic Applications

Christopher Jekeli

• Publisher: De Gruyter
• Year: 2012
• Print ISBN: 9783110159035
• eBook ISBN: 9783110800234
• Edition: 1
• Topic: Biological Sciences
• Subtopic: Geology & Earth Sciences
• Index: Biological Sciences

This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with the Global Positioning System (GPS) for geodetic applications. Complete mathematical derivations are given. Both stabilized and strapdown mechanizations are treated in detail. Derived algorithms to process sensor data and a comprehensive explanation of the error dynamics provide not only an analytical understanding but also a practical implementation of the concepts. A self-contained description of GPS, with emphasis on kinematic applications, is one of the highlights in this book.
The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing.

Table of contents

• 1 Coordinate Frames and Transformations
• 1.1 Introduction
• 1.2 Coordinate Frames
• 1.3 Transformations
• 1.4 Differential Equation of the Transformation
• 1.5 Specific Coordinate Transformations
• 1.6 Fourier Transforms
• 2 Ordinary Differential Equations
• 2.1 Introduction
• 2.2 Linear Differential Equations
• 2.3 General Solution of Linear Differential Equations
• 2.4 Numerical Methods
• 3 Inertial Measurement Units
• 3.1 Introduction
• 3.2 Gyroscopes
• 3.3 Accelerometer
• 4 Inertial Navigation System
• 4.1 Introduction
• 4.2 Mechanizations
• 4.3 Navigation Equations
• 5 System Error Dynamics
• 5.1 Introduction
• 5.2 Simplified Analysis
• 5.3 Linearized Error Equations
• 5.4 Approximate Analysis
• 6 Stochastic Processes and Error Models
• 6.1 Introduction
• 6.2 Probability Theory
• 6.3 Stochastic Processes
• 6.4 White Noise
• 6.5 Stochastic Error Models
• 6.6 Gravity Models
• 6.7 Examples of IMU Error Processes
• 7 Linear Estimation
• 7.1 Introduction
• 7.2 Bayesian Estimation
• 7.3 Discrete Kalman Filter
• 7.4 Discrete Linear Dynamics Model
• 7.5 Modifications
• 7.6 A Simple Example
• 7.7 Continuous Kalman Filter
• 8 INS Initialization and Alignment
• 8.1 Introduction
• 8.2 Coarse Alignment
• 8.3 Fine Alignment and Calibration
• 9 The Global Positioning System (GPS)
• 9.1 Introduction
• 9.2 Global Positioning System
• 9.3 GPS Observables
• 9.4 GPS Errors
• 9.5 Combinations of Observations
• 9.6 Kinematic Positioning
• 10 Geodetic Application
• 10.1 Introduction
• 10.2 Inertial Survey System
• 10.3 GPS/INS Integration
• 10.4 Moving-Base Gravimetry
• References
• Index