Title:
Applied mathematics in integrated navigation systems
Personal Author:
Series:
AIAA education series
Edition:
2nd ed.
Publication Information:
Reston, VA : American Institute of Aeronautics and Astronautics, 2003
ISBN:
9781563476563
Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
---|---|---|---|---|---|
Searching... | 30000010127281 | TL695 R63 2003 | Open Access Book | Book | Searching... |
On Order
Summary
Summary
Intended for those directly involved with the design, integration, and test and evaluation of navigation systems, this text/CD-ROM presents elements of basic mathematics, kinematics, equations describing navigation systems and their error models, and Kalman filtering. Detailed derivations are presen
Author Notes
Robert M. Rogers received his degrees in Aerospace Engineering from the University of Florida and is an Associate Fellow of the American Institute of Aeronautics and Astronautics. As sole proprietor of Rogers Engineering & Associates, Dr. Rogers performs research development, systems analysis, test and evaluation, and teaching for the Department of Defense and the National Aeronautics and Space Administration in integrated navigation systems
Table of Contents
Preface | p. xiii |
Part 1 Elements of Integrated Navigation Systems | |
Chapter 1. Introduction | p. 3 |
Chapter 2. Mathematical Preliminaries | p. 7 |
2.1 Vector/Matrix Algebra | p. 7 |
2.2 Vector/Matrix Calculus | p. 13 |
2.3 Linearization Techniques | p. 16 |
2.4 Direction Cosine Matrices | p. 18 |
2.5 Miscellaneous Mathematical Topics | p. 28 |
2.6 Chapter Summary | p. 30 |
Problems | p. 30 |
Chapter 3. Coordinate Systems and Transformations | p. 41 |
3.1 Coordinate Systems | p. 41 |
3.2 Coordinate Frame Transformations | p. 47 |
3.3 Chapter Summary | p. 54 |
Problems | p. 55 |
Chapter 4. Earth Models | p. 59 |
4.1 Ellipsoid Geometry | p. 59 |
4.2 Ellipsoid Gravity | p. 66 |
4.3 Chapter Summary | p. 67 |
Problems | p. 68 |
Chapter 5. Terrestrial Navigation | p. 73 |
5.1 Strap-Down Navigation Systems | p. 73 |
5.2 Local Level Navigation Frame Mechanization Equations | p. 74 |
5.3 Perturbation Form of Navigation System Error Equations | p. 77 |
5.4 Navigation System Attitude Error Equations: Psi Formulation | p. 84 |
5.5 Navigation System Error Equations Using Alternative Velocity Error | p. 84 |
5.6 Vertical Channel | p. 88 |
5.7 Chapter Summary | p. 90 |
Problems | p. 91 |
Chapter 6. Navigation Sensor Models | p. 101 |
6.1 Gyro Performance Characterizations | p. 101 |
6.2 Sensor Error Models | p. 105 |
6.3 Chapter Summary | p. 114 |
Problems | p. 114 |
Chapter 7. Navigation Aids | p. 117 |
7.1 Doppler Velocity Sensors | p. 117 |
7.2 Tactical Air Navigation Range | p. 121 |
7.3 Global Positioning System Range | p. 124 |
7.4 Forward Looking Infrared Line-of-Sight Systems | p. 132 |
7.5 Chapter Summary | p. 134 |
Problems | p. 135 |
Chapter 8. Kalman Filtering | p. 141 |
8.1 Recursive Weighted Least Squares: Constant Systems | p. 142 |
8.2 Recursive Weighted Least Squares: Dynamic Systems | p. 146 |
8.3 Discrete Linear Minimum Variance Estimator | p. 149 |
8.4 U--D Factored Form | p. 152 |
8.5 Summed Measurements | p. 158 |
8.6 Combined Estimate from Two Kalman Filters | p. 160 |
8.7 Chapter Summary | p. 163 |
Problems | p. 163 |
Part 2 Applications | |
Chapter 9. Strap-Down Inertial Sensor Laboratory Calibration | p. 173 |
9.1 Navigation Mechanization Review | p. 174 |
9.2 Sensor Error Model | p. 174 |
9.3 Solutions for Sensor Errors | p. 174 |
9.4 Data Collection Rotation Sequences | p. 175 |
9.5 Observation Equations | p. 177 |
9.6 Processing Sequences | p. 180 |
9.7 Simulated Laboratory Data Calibration | p. 180 |
9.8 Chapter Summary | p. 183 |
Chapter 10. Flight Test Evaluations | p. 189 |
10.1 Optical Tracking Trajectory Reconstruction | p. 190 |
10.2 Tactical Air Navigation/Inertial Navigation Unit Reconstruction | p. 195 |
10.3 Vehicle Dynamics with Radar Tracking Trajectory Reconstruction | p. 200 |
10.4 Chapter Summary | p. 212 |
Chapter 11. Inertial Navigation System Ground Alignment | p. 215 |
11.1 Initial Coarse Alignment and Resulting Errors | p. 215 |
11.2 Fine Alignment Kalman Filter | p. 218 |
11.3 Simulated Ground Fine Alignment | p. 220 |
11.4 Chapter Summary | p. 227 |
Chapter 12. Integration via Kalman Filtering: Global Positioning System Receiver | p. 229 |
12.1 Global Positioning System Receiver Kalman Filter Configurations | p. 230 |
12.2 Inertial Navigation System Configuration Kalman Filter | p. 230 |
12.3 Simulated Global Positioning System Receiver Inertial Navigation System Kalman Filter Operation | p. 237 |
12.4 Chapter Summary | p. 242 |
Chapter 13. In-Motion Alignment | p. 245 |
13.1 Transfer Alignment | p. 245 |
13.2 Alignment Without Benefit of Attitude Initialization | p. 255 |
13.3 Chapter Summary | p. 265 |
Chapter 14. Integrated Differential Global Positioning System/Dead-Reckoning Navigation | p. 267 |
14.1 Dead-Reckoning Navigation Equations | p. 268 |
14.2 Dead-Reckoning System Error Model | p. 269 |
14.3 Differential Global Positioning System Position Observations | p. 272 |
14.4 Integrated Dead-Reckoning/Differential Global Positioning System Implementation | p. 272 |
14.5 Test Conditions | p. 273 |
14.6 Test Results | p. 274 |
14.7 Chapter Summary | p. 277 |
Chapter 15. Attitude Determination and Estimation | p. 279 |
15.1 Terrestrial Attitude Determination | p. 279 |
15.2 Attitude Determination by Iteration | p. 283 |
15.3 Attitude Estimation | p. 284 |
15.4 Chapter Summary | p. 298 |
Chapter 16. Summary | p. 299 |
Appendix A. Pinson Error Model | p. 303 |
Appendix B. Global Positioning System Position Velocity and Acceleration Filter Error Model | p. 313 |
Appendix C. Coarse Alignment Error Equations | p. 315 |