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1、Principles of GNSS,Inertial,andMultisensor IntegratedNavigation Systemspage i09-27-07 12:15:40Principles of GNSS,Inertial,andMultisensor IntegratedNavigation SystemsPaul D.Grovespage iii09-27-07 12:15:40Library of Congress Cataloging-in-Publication DataA catalog record for this book is available fro
2、m the U.S.Library of Congress.British Library Cataloguing in Publication DataA catalogue record for this book is available from the British Library.ISBN-13:978-1-58053-255-6Cover design by 2008 Paul D.GrovesAll rights reserved.All rights reserved.Printed and bound in the United States of America.No
3、part of thisbook may be reproduced or utilized in any form or by any means,electronic or mechanical,including photocopying,recording,or by any information storage and retrieval system,without permission in writing from the publisher.All terms mentioned in this book that are known to be trademarks or
4、 service markshave been appropriately capitalized.Artech House cannot attest to the accuracy of thisinformation.Use of a term in this book should not be regarded as affecting the validity ofany trademark or service mark.10 9 8 7 6 5 4 3 2 1page iv09-27-07 12:15:40ContentsPrefacexvPART IIntroduction1
5、CHAPTER 1Introduction31.1What Is Navigation?31.1.1Position Fixing41.1.2Dead Reckoning61.2Inertial Navigation71.3Radio and Satellite Navigation81.3.1Terrestrial Radio Navigation91.3.2Satellite Navigation101.4Feature Matching121.5The Complete Navigation System13References14PART IINavigation Mathematic
6、s15CHAPTER 2Coordinate Frames,Kinematics,and the Earth172.1Coordinate Frames172.1.1Earth-Centered Inertial Frame192.1.2Earth-Centered Earth-Fixed Frame202.1.3Local Navigation Frame202.1.4Body Frame212.1.5Other Frames222.2Kinematics232.2.1Euler Attitude242.2.2Coordinate Transformation Matrix262.2.3Qu
7、aternion Attitude292.2.4Rotation Vector302.2.5Angular Rate30vpage v09-27-07 12:16:10viContents2.2.6Cartesian Position312.2.7Velocity332.2.8Acceleration342.3Earth Surface and Gravity Models352.3.1The Ellipsoid Model of the Earths Surface362.3.2Curvilinear Position382.3.3The Geoid and Orthometric Heig
8、ht432.3.4Earth Rotation442.3.5Specific Force,Gravitation,and Gravity452.4Frame Transformations492.4.1Inertial and Earth Frames492.4.2Earth and Local Navigation Frames502.4.3Inertial and Local Navigation Frames512.4.4Transposition of Navigation Solutions52References53Selected Bibliography53Endnotes54
9、CHAPTER 3The Kalman Filter553.1Introduction553.1.1Elements and Phases of the Kalman Filter563.1.2Kalman Filter Applications583.2Algorithms and Models593.2.1Definitions593.2.2Kalman Filter Algorithm623.2.3Kalman Filter Behavior653.2.4System Model673.2.5Measurement Model703.2.6Closed-Loop Kalman Filte
10、r733.3Implementation Issues743.3.1Tuning and Stability743.3.2Algorithm Design753.3.3Numerical Issues773.3.4Handling Data Lags783.3.5Kalman Filter Design Process803.4Extensions to the Kalman Filter803.4.1Extended and Linearized Kalman Filter803.4.2Time-Correlated Noise and the Schmidt-Kalman Filter83
11、3.4.3Adaptive Kalman Filter853.4.4Multiple-Hypothesis Filtering863.4.5Kalman Smoothing90References91Selected Bibliography93Endnotes93page vi09-27-07 12:16:10ContentsviiPART IIINavigation Systems95CHAPTER 4Inertial Sensors974.1Accelerometers984.1.1Pendulous Accelerometers1004.1.2Vibrating-Beam Accele
12、rometers1014.2Gyroscopes1014.2.1Spinning-Mass Gyroscopes1024.2.2Optical Gyroscopes1054.2.3Vibratory Gyroscopes1084.3Inertial Measurement Units1094.4Error Characteristics1124.4.1Biases1134.4.2Scale Factor and Cross-Coupling Errors1144.4.3Random Noise1154.4.4Further Error Sources1174.4.5Error Models11
13、7References118CHAPTER 5Inertial Navigation1215.1Inertial-Frame Navigation Equations1225.1.1Attitude Update1235.1.2Specific-Force Frame Transformation1245.1.3Velocity Update1255.1.4Position Update1265.2Earth-Frame Navigation Equations1265.2.1Attitude Update1265.2.2Specific-Force Frame Transformation1
14、285.2.3Velocity Update1285.2.4Position Update1295.3Local-Navigation-Frame Navigation Equations1295.3.1Attitude Update1305.3.2Specific-Force Frame Transformation1325.3.3Velocity Update1325.3.4Position Update1335.3.5Wander-Azimuth Implementation1345.4Navigation Equations Precision1355.4.1Iteration Rat
15、es1365.4.2Attitude Update1375.4.3Specific-Force Frame Transformation1425.4.4Velocity and Position Updates1435.4.5Effects of Vibration144page vii09-27-07 12:16:10viiiContents5.5Initialization and Alignment1465.5.1Position and Velocity Initialization1465.5.2Attitude Initialization1475.5.3Fine Alignmen
16、t1505.6INS Error Propagation1515.6.1Short-Term Straight-Line Error Propagation1525.6.2Medium and Long-Term Error Propagation1545.6.3Errors Due to Circling1575.7Platform INS1575.8Horizontal-Plane Inertial Navigation158References159Selected Bibliography159Endnotes160CHAPTER 6Satellite Navigation Syste
17、ms1616.1Fundamentals of Satellite Navigation1616.1.1GNSS Architecture1626.1.2Positioning1636.1.3Signals and Range Measurements1666.2Global Positioning System1706.2.1Space and Control Segments1716.2.2Signals1736.2.3Navigation Data Messages1766.2.4Augmentation Systems1776.3GLONASS1796.3.1Space and Con
18、trol Segments1796.3.2Signals1806.3.3Navigation Data Messages1816.4Galileo1816.4.1Space and Ground Segments1826.4.2Signals1836.4.3Navigation Data Messages1866.5Regional Navigation Systems1866.5.1Beidou and Compass1866.5.2QZSS1876.5.3IRNSS1886.6GNSS Interoperability1886.6.1Frequency Compatibility1896.
19、6.2User Competition1896.6.3Multistandard User Equipment190References190Selected Bibliography193CHAPTER 7Satellite Navigation Processing,Errors,and Geometry1957.1Satellite Navigation Geometry1967.1.1Satellite Position and Velocity196page viii09-27-07 12:16:10Contentsix7.1.2Range,Range Rate,and Line o
20、f Sight2037.1.3Elevation and Azimuth2077.1.4Signal Geometry and Navigation Solution Accuracy2087.2Receiver Hardware and Antenna2117.2.1Antennas2127.2.2Reference Oscillator and Receiver Clock2137.2.3Receiver Front-End2147.2.4Baseband Signal Processor2167.3Ranging Processor2267.3.1Acquisition2277.3.2C
21、ode Tracking2297.3.3Carrier Tracking2347.3.4Tracking Lock Detection2407.3.5Navigation-Message Demodulation2417.3.6Carrier-Power-to-Noise-Density Measurement2427.3.7Pseudo-Range,Pseudo-Range-Rate,and Carrier-PhaseMeasurements2447.4Range Error Sources2457.4.1Satellite Clock and Ephemeris Prediction Er
22、rors2457.4.2Ionosphere and Troposphere Propagation Errors2477.4.3Tracking Errors2507.4.4Multipath2547.5Navigation Processor2587.5.1Single-Point Navigation Solution2597.5.2Filtered Navigation Solution2627.5.3Combined Navigation and Tracking2707.5.4Position Error Budget273References274Selected Bibliog
23、raphy277Endnotes277CHAPTER 8Advanced Satellite Navigation2798.1Differential GNSS2798.1.1Spatial and Temporal Correlation of GNSS Errors2798.1.2Local and Regional Area DGNSS2808.1.3Wide Area DGNSS2828.1.4Precise Point Positioning2828.1.5Relative GNSS2838.2Carrier-Phase Positioning and Attitude2838.2.
24、1Integer Ambiguity Resolution2858.2.2GNSS Attitude Determination2888.3Poor Signal-to-Noise Environments2898.3.1Antenna Systems2908.3.2Receiver Front-End Filtering2918.3.3Assisted GNSS291page ix09-27-07 12:16:10 xContents8.3.4Acquisition2918.3.5Tracking2938.3.6Extended Coherent Integration2948.4Multi
25、path Mitigation2948.4.1Antenna Systems2948.4.2Receiver-Based Techniques2958.4.3Multipath Mapping2968.4.4Navigation Processor Filtering2968.5Signal Monitoring2968.6Semi-Codeless Tracking297References298CHAPTER 9Terrestrial Radio Navigation3039.1Point-Source Systems3039.2Loran3059.2.1The Loran Systems
26、3069.2.2Signals and User-Equipment Processing3079.2.3Positioning3089.2.4Error Sources3109.2.5Differential Loran3119.3Instrument Landing System3119.4Urban and Indoor Positioning3129.4.1Mobile Phones3129.4.2Signals of Opportunity3139.4.3GNSS Repeaters3149.4.4WLAN Positioning3149.4.5UWB Positioning3159
27、.4.6Short-Range Beacons3169.5Relative Navigation3169.6Tracking3189.7Sonar Transponders318References318CHAPTER 10Dead Reckoning,Attitude,and Height Measurement32110.1 Attitude Measurement32110.1.1 Leveling32110.1.2 Magnetic Heading32210.1.3 Integrated Heading Measurement32610.1.4 Attitude and Heading
28、 Reference System32710.2 Height and Depth Measurement32710.2.1 Barometric Altimeter32810.2.2 Depth Pressure Sensor32910.2.3 Radar Altimeter32910.3 Odometers330page x09-27-07 12:16:10Contentsxi10.4 Pedestrian Dead Reckoning33510.5 Doppler Radar and Sonar33710.6 Other Dead-Reckoning Techniques34010.6.
29、1 Image Processing34110.6.2 Landmark Tracking34110.6.3 Correlation Velocity Log34110.6.4 Air Data34210.6.5 Ships Log342References342CHAPTER 11Feature Matching34511.1 Terrain-Referenced Navigation34511.1.1 Sequential Processing34611.1.2 Batch Processing34711.1.3 Performance34911.1.4 Laser TRN35011.1.
30、5 Barometric TRN35111.1.6 Sonar TRN35111.2 Image Matching35111.2.1 Scene Matching by Area Correlation35211.2.2 Continuous Visual Navigation35311.3 Map Matching35311.4 Other Feature-Matching Techniques35511.4.1 Stellar Navigation35611.4.2 Gravity Gradiometry35611.4.3 Magnetic Field Variation357Refere
31、nces357Selected Bibliography359PART IVIntegrated Navigation361CHAPTER 12INS/GNSS Integration36312.1 Integration Architectures36412.1.1 Correction of the Inertial Navigation Solution36512.1.2 Loosely Coupled Integration36812.1.3 Tightly Coupled Integration37012.1.4 GNSS Aiding37112.1.5 Deep Integrati
32、on37312.2 System Model and State Selection37512.2.1 State Selection and Observability37612.2.2 INS State Propagation in the Inertial Frame37812.2.3 INS State Propagation in the Earth Frame382page xi09-27-07 12:16:10 xiiContents12.2.4 INS State Propagation Resolved in the Local NavigationFrame38412.2
33、.5 INS System Noise38712.2.6 GNSS State Propagation and System Noise38812.3 Measurement Models38912.3.1 Loosely Coupled Integration39012.3.2 Tightly Coupled Integration39312.3.3 Deep Integration39612.3.4 Estimation of Attitude and Instrument Errors39812.4 Advanced INS/GNSS Integration39912.4.1 Diffe
34、rential GNSS39912.4.2 Carrier-Phase Positioning and GNSS Attitude39912.4.3 Large Heading Errors40112.4.4 Advanced IMU Error Modeling40212.4.5 Smoothing403References403Selected Bibliography406Endnotes406CHAPTER 13INS Alignment and Zero Velocity Updates40713.1 Transfer Alignment40713.1.1 Conventional
35、Measurement Matching40913.1.2 Rapid Transfer Alignment41013.1.3 Reference Navigation System41213.2 Quasi-Stationary Alignment with Unknown Heading41313.3 Quasi-Stationary Fine Alignment and Zero Velocity Updates415References417Selected Bibliography418CHAPTER 14Multisensor Integrated Navigation41914.
36、1 Integration Architectures42014.1.1 Least-Squares Integration42014.1.2 Cascaded Integration42214.1.3 Centralized Integration42414.1.4 Federated Integration42614.1.5 Hybrid Integration Architectures42914.1.6 Total-State Kalman Filter Employing Prediction42914.1.7 Error-State Kalman Filter43214.2 Ter
37、restrial Radio Navigation43314.2.1 Loosely Coupled Integration43414.2.2 Tightly Coupled Integration43414.3 Dead Reckoning,Attitude,and Height Measurement43714.3.1 Attitude43814.3.2 Height and Depth440page xii09-27-07 12:16:10Contentsxiii14.3.3 Odometers44114.3.4 Pedestrian Dead Reckoning44314.3.5 Do
38、ppler Radar and Sonar44414.4 Feature Matching44514.4.1 Position Fixes44514.4.2 Line Fixes44614.4.3 Ambiguous Measurements448References448CHAPTER 15Fault Detection and Integrity Monitoring45115.1 Failure Modes45115.1.1 Inertial Navigation45215.1.2 GNSS45215.1.3 Terrestrial Radio Navigation45315.1.4 D
39、ead Reckoning,Attitude,and Height Measurement45315.1.5 Feature Matching45315.1.6 Integration Algorithm45315.2 Range Checks45415.2.1 Sensor Outputs45415.2.2 Navigation Solution45515.2.3 Kalman Filter Estimates45515.3 Kalman Filter Measurement Innovations45515.3.1 Innovation Filtering45615.3.2 Innovat
40、ion Sequence Monitoring45815.3.3 Remedying Biased State Estimates45915.4 Direct Consistency Checks46015.4.1 Measurement Consistency Checks and RAIM46115.4.2 Parallel Solutions46315.5 Certified Integrity Monitoring465References469APPENDIX AVectors and Matrices471A.1Introduction to Vectors471A.2Introd
41、uction to Matrices473A.3Special Matrix Types476A.4Matrix Inversion477A.5Calculus478References478APPENDIX BStatistical Measures479B.1Mean,Variance,and Standard Deviation479B.2Probability Density Function479B.3Gaussian Distribution480page xiii09-27-07 12:16:10 xivContentsB.4Chi-Square Distribution481R
42、eferences483List of Symbols485List of Acronyms and Abbreviations497About the Author505Index507page xiv09-27-07 12:16:10PrefaceThis book has four main aims:To provide an introduction to navigation systems suitable for those with noprior knowledge;To describe the principles of operation of satellite,i
43、nertial,and many othernavigation technologies,both qualitatively and mathematically;To review the state of the art in navigation technology;To provide a detailed treatment of integrated navigation.It is aimed at professional scientists and engineers in industry,academia,andgovernment,and at students
44、 at final year undergraduate,masters,and Ph.D.levels.The book begins with a basic introduction to the main principles of navigationand a summary of the different technologies.The different coordinate frames,attitude representations,multiframe kinematics,Earth models,and gravity are thencarefully exp
45、lained,while the basic principles of each topic in the body of the bookare explained before going into the details.To cover the state of the art in navigation technology,the book goes beyondglobal navigation satellite systems(GNSS)and inertial navigationto describe terres-trial radio navigation,dead
46、 reckoning,and feature matching techniques.Topicscovered include Loran,wireless local area network(WLAN)and ultra wideband(UWB)positioning,magnetometers,attitude and heading reference systems(AHRS),altimeters,odometers,pedestrian dead reckoning,Doppler radar andsonar,terrain-referenced navigation,im
47、age matching,and map matching.The GNSS chapters describe the legacy and new Global Positioning System(GPS),GlobalNavigationSatelliteSystem(GLONASS),andGalileosignalstogetherand cover a range of advanced topics,including differential and carrier-phasepositioning,GNSS attitude,multipath mitigation,and
48、 operation in poor signal-to-noise environments.Inertial navigation coverage includes accelerometer andgyroscope technology,navigation equations,initialization,alignment,and zerovelocity updates.Integrated navigation is served by a navigation-focused chapter on Kalmanfiltering,together with chapters
49、 on inertial navigation system(INS)/GNSS integra-tion,including deep,and on multisensor integration.To support these,the chapterson the navigation sensors include comprehensive descriptions of the processingchains and error sources.The book concludes with a chapter on integrity monitor-ing,showing h
50、ow a navigation system can detect and recover from faults.xvpage xv09-27-07 12:16:24xviPrefaceThe emphasis throughout is on providing an understanding of how navigationsystems work,rather than on engineering details.The book focuses on the physicalprinciples on which navigation systems are based,how