Overview

This text 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 guide the reader to the fundamental sensor equations of accelerometers and the classical mechanical as well as modern optical gyros. Both stabilized and strapdown mechanizations are treated in detail and navigation equations are solved in a unified development. 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 complete study of error statistics and the linear Kalman filter leads to methods of calibration and alignment. Finally, a self-contained description of GPS, with emphasis on kinematic applications, precedes the topical developments of inertial surveying, GPS/INS integration for precise kinematic positioning, and GPS/INS airborne gravimetry.

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9783110159035

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