An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering
Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), 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 GNSS-aided INS (tightly and loosely coupled), 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. The Third Edition includes:
The companion website includes updated background material; additional MATLAB scripts for simulating GNSS-only and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.
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MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineering in the College of Engineering and Computer Science at California State University, Fullerton.
ANGUS P. ANDREWS, PhD, was senior scientist (now retired) at the Rockwell Science Center in Thousand Oaks, California.
CHRIS G. BARTONE, PhD, PE, is Professor of Electrical Engineering in the Russ College of Engineering and Technology, School of Electrical Engineering and Computer Science at Ohio University, Athens, Ohio.
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