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.
James L. Farrell (B.E.E., Marquette, MS, UCLA, Ph.D., U. of MD,) is an ION Fellow, former ION Air Nav Representative, a Life Senior Member of IEEE, a former local board member of AIAA, a registered professional engineer in Maryland, and member of various scholastic honorary fraternities. Early technical experience includes teaching appointments at Marquette and UCLA, two years each at Minneapolis Honeywell and Bendix-Pacific, plus 31 years at Westinghouse in design, simulation, and validation of navigation and tracking programs.
He is author of Integrated Aircraft Navigation (Academic Press, 1976; now in paperback after five hard-cover printings), a former columnist for Washington Technology, and has written over 80 journal and conference manuscripts. He served as co-chairman of an RTCA Working Group for GPS Integrity. With VIGIL Inc. he has continued his teaching (on University campus as well as in seminars - industry, conference, IEEE, and on-site), while consulting for private industry, DoD, and University research. His main areas of recent activity are GPS/inertial integration, calibration, and integrity, writing programs validated with test data collected by Ohio University.
