GLOBAL POSITIONING SYSTEMS, INERTIAL NAVIGATION, AND INTEGRATION

By C. FIVIU

35 EXTRACTION OF INFORMATION FOR NAVIGATION SOLUTION 61 36 THEORETICAL CONSIDERATIONS IN PSEUDORANGE AND FREQUENCY ESTIMATION 67 37 MODEMIZATION OF GPS 71 38 GPS SATELLITE POSITION CALCULATIONS PROBLEMS 76 78 4 RECEIVER AND ANTENNA DESIGN 80 41 RECEIVER ARCHITECTURE 42 RECEIVER DESIGN CHOICES 80 85 CONTENTS 43 ANTENNA DESIGN PROBLEMS 5 GPS DATA ERRORS 98 100 103 51 SELECTIVE AVAILABILITY ERRORS 103 52 IONOSPHERIC PROPAGATION ERRORS 110 53 TROPOSPHERIC PROPAGATION ERRORS 114 54 THE MULTIPATH PROBLEM 115 55 HOW MULTIPATH CAUSES RANGING ERRORS 116 56 METHODS OF MULTIPATH MITIGATION 118 57 THEORETICAL LIMITS FOR MULTIPATH MITIGATION 124 58 EPHEMERIS DATA ERRORS 126 59 ONBOARD CLOCK ERRORS 126 1 INTRODUCTION 1 510 RECEIVER CLOCK ERRORS 127 11 GPS AND GLONASS OVERVIEW 12 DIFFERENTIAL AND AUGMENTED GPS 13 APPLICATIONS 257 511 ERROR BUDGETS 128 PROBLEMS 6 INERTIAL NAVIGATION 130 131 2 FUNDAMENTALS OF SATELLITE AND INERTIAL NAVIGATION 9 61 BACKGROUND 131 62 INERTIAL SENSORS 135 21 NAVIGATION SYSTEMS CONSIDERED 9 63 NAVIGATION COORDINATES 152 22 FUNDAMENTALS OF INERTIAL NAVIGATION 10 64 SYSTEM IMPLEMENTATIONS 153 23 SATELLITE NAVIGATION 14 65 SYSTEM-LEVEL ERROR MODELS 170 24 TIME AND GPS 24 PROBLEMS 178 25 USER POSITION CALCULATIONS WITH NO ERRORS 26 26 USER VELOCITY CALCULATION WITH NO ERRORS PROBLEMS 28 7 KALMAN FILTER BASICS 179 29 71 INTRODUCTION 179 72 STATE AND COVARIANCE CORRECTION 181 3 SIGNAL CHARACTERISTICS AND INFORMATION EXTRACTION 30 73 STATE AND COVARIANCE PREDICTION 190 31 MATHEMATICAL SIGNAL WAVEFORM MODELS 30 74 SUMMARY OF KALMAN FILTER EQUATIONS 198 32 GPS SIGNAL COMPONENTS, PURPOSES AND PROPERTIES 32 75 ACCOMMODATING CORRELATED NOISE 201 33 SIGNAL POWER LEVELS 45 76 NONLINEAR AND ADAPTIVE IMPLEMENTATIONS 207 34 SIGNAL ACQUISITION AND TRACKING 46 77 KALMAN-BUCY FILTER 213 ACTIV 78 GPS RECEIVER EXAMPLES 215 PROBLEMS 224 8 KALMAN FILTER ENGINEERING 229 81 MORE STABLE IMPLEMENTATION METHODS 229 82 IMPLEMENTATION REQUIREMENTS 239 83 KALMAN FILTER MONITORING 245 84 SCHMIDT-KALMAN SUBOPTIMAL FILTERING 250 85 COVARIANCE ANALYSIS 251 86 GPS/INS INTEGRATION ARCHITECTURES 252 PROBLEMS 264 9 DIFFERENTIAL GPS 265 91 INTRODUCTION 265 92 LADGPS, WADGPS, AND WAAS 266 93 GEO UPLINK SUBSYSTEM (GUS) 269 94 GEO UPLINK SUBSYSTEM (GUS) CLOCK STEERING ALGORITHMS 276 95 GEO ORBIT DETERMINATION 282 PROBLEMS 290