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GNSS惯性及多传感器组合导航.4th_Y2020.pdf

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    GNSS,Inertial Navigation,and Integration
    4th_Y2020
    Mohinder S.Grewal, Chris G.Bartone
    Contents
    Preface to the Fourth Edition
    October 2019
    Acknowledgments
    About the Authors
    Acronyms
    About the CompanionWebsite
    www.wiley.com/go/grewal/gnss
    01 Introduction
    1.1 Navigation
    kkkkGlobalNavigationSatelliteSystems,InertialNavigation,andIntegration
    kkkkGlobalNavigationSatelliteSystems,InertialNavigation,andIntegrationMohinderS.GrewalCaliforniaStateUniversityatFullertonFullerton,CaliforniaAngus P. AndrewsRockwell Science Center (retired)Thousand Oaks, CaliforniaChrisG.BartoneOhioUniversityAthens,OhioFourthEdition
    kkkkThisfourtheditionfirstpublished2020©2020JohnWiley&Sons,Inc.EditionHistoryWiley-Interscience;1stedition2006Wiley-Interscience;2ndedition2011Wiley-Interscience;3rdedition2013Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmitted,inanyformorbyanymeans,electronic,mechanical,photocopying,recordingorotherwise,exceptaspermittedbylaw.Adviceonhowtoobtainpermissiontoreusematerialfromthistitleisavailableathttp://www.wiley.com/go/permissions.The right of Mohinder S. Grewal, Angus P. Andrews, and Chris G. Bartone to be identified as the authors of this work has been asserted in accordance with law.RegisteredOfficeJohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ07030,USAEditorialOffice111RiverStreet,Hoboken,NJ07030,USAFordetailsofourglobaleditorialoffices,customerservices,andmoreinformationaboutWileyproductsvisitusatwww.wiley.com.Wileyalsopublishesitsbooksinavarietyofelectronicformatsandbyprint-on-demand.Somecontentthatappearsinstandardprintversionsofthisbookmaynotbeavailableinotherformats.LimitofLiability/DisclaimerofWarrantyMATLAB®isatrademarkofTheMathWorks,Inc.andisusedwithpermission.TheMathWorksdoesnotwarranttheaccuracyofthetextorexercisesinthisbook.Thiswork’suseordiscussionofMATLAB®softwareorrelatedproductsdoesnotconstituteendorsementorsponsorshipbyTheMathWorksofaparticularpedagogicalapproachorparticularuseoftheMATLAB®software.Whilethepublisherandauthorshaveusedtheirbesteffortsinpreparingthiswork,theymakenorepresentationsorwarrantieswithrespecttotheaccuracyorcompletenessofthecontentsofthisworkandspecificallydisclaimallwarranties,includingwithoutlimitationanyimpliedwarrantiesofmerchantabilityorfitnessforaparticularpurpose.Nowarrantymaybecreatedorextendedbysalesrepresentatives,writtensalesmaterialsorpromotionalstatementsforthiswork.Thefactthatanorganization,website,orproductisreferredtointhisworkasacitationand/orpotentialsourceoffurtherinformationdoesnotmeanthatthepublisherandauthorsendorsetheinformationorservicestheorganization,website,orproductmayprovideorrecommendationsitmaymake.Thisworkissoldwiththeunderstandingthatthepublisherisnotengagedinrenderingprofessionalservices.Theadviceandstrategiescontainedhereinmaynotbesuitableforyoursituation.Youshouldconsultwithaspecialistwhereappropriate.Further,readersshouldbeawarethatwebsiteslistedinthisworkmayhavechangedordisappearedbetweenwhenthisworkwaswrittenandwhenitisread.Neitherthepublishernorauthorsshallbeliableforanylossofprofitoranyothercommercialdamages,includingbutnotlimitedtospecial,incidental,consequential,orotherdamages.LibraryofCongressCataloging-in-PublicationDataNames:Grewal,MohinderS.,author.|Andrews,AngusP.,author.|Bartone,ChrisG.,author.|JohnWiley&Sons.Title:Globalnavigationsatellitesystems,inertialnavigation,andintegration/MohinderS.Grewal,CaliforniaStateUniversityatFullerton,AngusP.Andrews,ChrisG.Bartone.Description:FourthEdition.|Hoboken:Wiley,2020.|Thirdeditionpublished2013.|Includesbibliographicalreferencesandindex.Identifiers:LCCN2019038560(print)|LCCN2019038561(ebook)|ISBN9781119547839(Hardback)|ISBN9781119547846(AdobePDF)|ISBN9781119547815(ePub)Subjects:LCSH:GlobalPositioningSystem.|Inertialnavigation.|Kalmanfiltering.Classification:LCCG109.5.G742020(print)|LCCG109.5(ebook)|DDC910.285–dc23LCrecordavailableathttps://lccn.loc.gov/2019038560LCebookrecordavailableathttps://lccn.loc.gov/2019038561CoverdesignbyWileyCoverimage:©BusakornPongparnit/GettyImagesSetin10/12ptWarnockProbySPiGlobal,Chennai,IndiaPrintedintheUnitedStatesofAmerica10987654321
    kkkkM.S.G.dedicatesthisbooktothememoryofhisparents,LivlinKaurandSardarSahibSardarKaramSinghGrewal.A.P.A.dedicateshiscontributionstohiswifeJeri,withoutwhomitneverwouldhavehappened.C.G.B.dedicatesthisworktohiswifeShirleyandtwosons,ChristopherandStephen,fortheirnever-endingsupportovertheyears.
    kkkkviiContentsPrefacetotheFourthEditionxxvAcknowledgmentsxxixAbouttheAuthorsxxxAcronymsxxxiAbouttheCompanionWebsitexxxix1Introduction11.1Navigation11.1.1Navigation-RelatedTechnologies11.1.2NavigationModes21.2GNSSOverview31.2.1GPS41.2.1.1GPSOrbits41.2.1.2LegacyGPSSignals41.2.1.3ModernizationofGPS61.2.2GlobalOrbitingNavigationSatelliteSystem(GLONASS)61.2.2.1GLONASSOrbits61.2.2.2GLONASSSignals61.2.2.3ModernizedGLONASS71.2.3Galileo71.2.3.1GalileoNavigationServices71.2.3.2GalileoSignalCharacteristics81.2.4BeiDou91.2.4.1BeiDouSatellites101.2.4.2Frequency101.2.5RegionalSatelliteSystems101.2.5.1QZSS101.2.5.2NAVIC101.3InertialNavigationOverview101.3.1History111.3.1.1TheoreticalFoundations11
    kkkkviiiContents1.3.1.2DevelopmentChallenges:ThenandNow121.3.2DevelopmentResults121.3.2.1InertialSensors121.3.2.2SensorAttitudeControl141.3.2.3Initialization151.3.2.4IntegratingAccelerationandVelocity151.3.2.5AccountingforGravity151.4GNSS/INSIntegrationOverview161.4.1TheRoleofKalmanFiltering161.4.2Implementation17Problems17References182FundamentalsofSatelliteNavigationSystems212.1ChapterFocus212.2SatelliteNavigationSystemsConsiderations212.2.1SystemsOtherthanGNSS212.2.2ComparisonCriteria222.3SatelliteNavigation222.3.1GNSSOrbits232.3.2NavigationSolution(Two-DimensionalExample)252.3.2.1SymmetricSolutionUsingTwoTransmittersonLand252.3.2.2NavigationSolutionProcedure272.3.3UserSolutionandDilutionofPrecision(DOP)282.3.4ExampleCalculationofDOPs322.3.4.1FourSatellites322.4TimeandGPS332.4.1CoordinatedUniversalTime(UTC)Generation332.4.2GPSSystemTime332.4.3ReceiverComputationofUTC342.5Example:UserPositionCalculationswithNoErrors352.5.1UserPositionCalculations352.5.1.1PositionCalculations352.5.2UserVelocityCalculations37Problems39References413FundamentalsofInertialNavigation433.1ChapterFocus433.2Terminology443.3InertialSensorTechnologies503.3.1Gyroscopes503.3.1.1MomentumWheelGyroscopes(MWGs)50
    kkkkContentsix3.3.1.2CoriolisVibratoryGyroscopes(CVGs)513.3.1.3OpticalGyroscopes(RLGsandFOGs)533.3.2Accelerometers533.3.2.1Mass-springDesigns533.3.2.2PendulousIntegratingGyroscopicAccelerometers(PIGA)543.3.2.3Electromagnetic543.3.2.4Electrostatic553.3.3SensorErrors553.3.3.1AdditiveOutputNoise553.3.3.2Input–outputErrors553.3.3.3ErrorCompensation563.3.4InertialSensorAssembly(ISA)Calibration573.3.4.1ISACalibrationParameters583.3.4.2CalibrationParameterDrift593.3.5CarouselingandIndexing603.4InertialNavigationModels603.4.1GeoidModels613.4.2TerrestrialNavigationCoordinates613.4.3EarthRotationModel633.4.4GravityModels633.4.4.1GravitationalPotential633.4.4.2GravitationalAcceleration643.4.4.3EquipotentialSurfaces643.4.4.4LongitudeandLatitudeRates643.4.5AttitudeModels683.4.5.1CoordinateTransformationMatricesandRotationVectors693.4.5.2AttitudeDynamics693.5InitializingTheNavigationSolution703.5.1InitializationfromanEarth-fixedStationaryState703.5.1.1AccelerometerRecalibration703.5.1.2InitializingPositionandVelocity703.5.1.3InitializingISAAttitude703.5.1.4GyrocompassAlignmentAccuracy713.5.2InitializationontheMove733.5.2.1TransferAlignment733.5.2.2InitializingUsingGNSS733.6PropagatingTheNavigationSolution733.6.1AttitudePropagation733.6.1.1StrapdownAttitudePropagation733.6.1.2QuaternionImplementation783.6.1.3DirectionCosinesImplementation793.6.1.4MATLAB®Implementations803.6.1.5GimbalAttitudeImplementations80
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