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Two early chapters (an introduction and a review of fundamentals) are followed by a strapdown inertial segment. Chapter 3 gives simple step-by-step tasks for incrementing attitude, velocity, and position with processing equations for raw strapdown sensor data, plus explanation of marked contrast between inertial error characterizations here vs other, far less influential, items (coning, sculling) over durations less than 0.1 Schuler period. Chapter 4 characterizes error propagation with insight relating the development to translational motion analysis. Instrument errors are then represented in detail.Chapter 5 describes update with satellite signals, characterizing GNSS measurement differences (across satellites for removal of user clock effects and, for carrier phase, in time - providing the all-important robustness while imposing requirements for added sophistications introduced by this author).The next three chapters are aimed at operational considerations. A key issue in Chapter 6 (an obvious need to reject incorrect inputs) covers detection and identification/exclusion of seriously flawed signals by ntegrity test. Techniques and their interrelationships are discussed, with ramifications (e.g., multiple simultaneous flawed signals). Chapter 7 covers functions (interfacing, sampling/interpolation, lever arm adjustment, synchronization) highly important for successful implementation. Chapter 8 presents state-of-the-art test results realized by using the algorithms presented in this book.A decision was made to magnify the scope through a modest percentage increase in length. With straightforward modifications much of the material extends to include tracking (with most or all sensors used to determine the state of remote objects not carrying them). All combinations (air-to-air, air-to-surface, surface-to-air, etc.) are addressed in Chapter 9, with application-specific topics (including multistatic operation, orbit determination, reentry vehicles, projectiles, littoral environments, and supporting functions). The payoff for extension comes in Chapter 10, showing practical means to exploit these capabilities in ways not being used nor planned for usage at the time of writing. That last remark leads directly into the closing of that last chapter, which envisions a future with full usage of all available resources.
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With an overabundant selection of recent books available, it isn't surprising that many knowledgeable people are unaware of one that singularly offers original features for robustness and unprecedented situation awareness. In the words of one reviewer (a past National President and Journal editor for the Institute of Navigation), this book is teeming with insights either hard to find or unavailable anywhere else. The reason is a set of little-known connections among related items recognized from this author's * decades of experience in myriad facets of navigation and tracking * thousands of hours spent working with real airborne data * thorough familiarity with pertinent literature since the 1960s.State-of-the-art GPS/INS test results, in an hour's flight with a low-cost IMU - obtained with usage of the algorithms presented in the book (free of any proprietary claims), are also included. Have you ever in your life taken raw IMU data (rotation increments from gyros; velocity increments from accelerometers), put it with raw GPS receiver data (carrier phase & pseudorange plus an occasional clock-cum-ephemeris nav message) and processed it all from scratch? I have, achieving state-of-the-art accuracy from drift ratings exceeding nav-quality by five orders of magnitude. Now you can do the same. Insights gained from this book will enable you to proceed with confidence, extending your knowledge in multiple directions (integration, backup, requirements definition, etc.). You will be amazed at the directness of step-by-step procedures, giving you an entirely new depth of understanding. Gone forever is any mystery associated with presently accepted practices that retain limitations of yesteryear's technologies. Tight integration only begins to describe the approach. Among the many available benefits not exploited by current methods (including those with tight integration) are * modern computational capabilities vastly beyond what existed when classical algorithms were developed * full impact afforded by frequent high-accuracy updating, whereby long-term drift is rendered ineffective by properly devised estimation -- supplemented by real-world guidelines showing how far that operation can (and can't) be carried * dramatic simplifications permissible in dynamic models when updates are separated by brief intervals (typically a few seconds) * robustness of carrier phase used with sequential differencing -- allowing omission of all integer ambiguity resolution efforts plus instant recovery from sharp discontinuities, or even intermittency, in phase data.The result has been a wide array of innovations; well over a dozen currently unused features, easily identified, will one day be recognized as essential to meet growing demands for performance. All of the innovations appeared, prior to the book publication, in conference and journal publications written or coauthored by this writer. The fundamental goal - maximum performance at minimal cost - plus coming as close as humanly possible to continuing operationno matter what - has in effect redefined the complete methodology. That includes not only how to process measurements from satellites - plus how to integrate them and present the outcome - but also the means, pioneered at Ohio University, of generating those measurements in the first place. The result: a combination differing radically from every other approach in existence. I feel compelled to offer this frank assessment of the status quo: Much of our industry pays a fortune for a fraction of achievable performance, doing integration in a way that's difficult and very incomplete. Consequences are evident from shortcomings widely acknowledged throughout the industry. All those unnecessary sacrifices can be removed. This book, describing tomorrow's system-of-systems, paves the way.From the Back Cover:
James L. Farrell has put together complete formulations to convert raw uncorrected data from IMU (gyro and accelerometer increments) plus GNSS (pseudorange and ambiguous carrier phase) to full (position/velocity/attitude) 3-dimensional history. Organized and integrated with common notation, the formulations are then validated by Ohio University test results:state-of-the-art performance from a low-cost IMU with drift ratings orders of magnitude beyond nav quality. By exploiting modern capabilities and insights, the inertial processing is dramatically simpler than conventional methods. So is the data editing, shown to be both: (1) unfailingly sound in flight test and (2) fully equivalent, despite its simplicity, to integrity decisions by rigorous parity criteria.The approach is completely robust, applicable to mixed data from GPS plus other GNSS constellations. Carrier phases, everywhere ambiguous, are fully effective even if intermittent, since only their short-term sequential changes are needed.To round out the presentation, underlying commonality between navigation and tracking dynamics is developed further than usual. A variety of operations (air-to-air, air-to-surface, surface-to-air, etc.) with a variety of tracked objects (aircraft, ships, satellites, reentry vehicles, projectiles) and myriad sensing means (GNSS broadcasts, optical, radar - in cooperative and noncooperative modes) are shown with common characteristics -- but also with features strikingly unique to each application. The †methods presented offer an unprecedented degree of integration and situation awareness.
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Book Description American Literary Press, 2007. Condition: New. book. Seller Inventory # M1561679798