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Principles of GNSS, inertial, and multisensor integrated navigation systems / by Groves, Paul D. (Paul David)

Table of Contents: “…Note continued: 12.3.Short-Range Communications Systems -- 12.3.1.Wireless Local Area Networks (Wi-Fi) -- 12.3.2.Wireless Personal Area Networks -- 12.3.3.Radio Frequency Identification -- 12.3.4.Bluetooth Low Energy -- 12.3.5.Dedicated Short-Range Communication -- 12.4.Underwater Acoustic Positioning -- 12.5.Other Positioning Technologies -- 12.5.1.Radio -- 12.5.2.Ultrasound -- 12.5.3.Infrared -- 12.5.4.Optical -- 12.5.5.Magnetic -- References -- ch. 13 Environmental Feature Matching -- 13.1.Map Matching -- 13.1.1.Digital Road Maps -- 13.1.2.Road Link Identification -- 13.1.3.Road Positioning -- 13.1.4.Rail Map Matching -- 13.1.5.Pedestrian Map Matching -- 13.2.Terrain-Referenced Navigation -- 13.2.1.Sequential Processing -- 13.2.2.Batch Processing -- 13.2.3.Performance -- 13.2.4.Laser TRN -- 13.2.5.Sonar TRN -- 13.2.6.Barometric TRN -- 13.2.7.Terrain Database Height Aiding -- 13.3.Image-Based Navigation -- 13.3.1.Imaging Sensors -- 13.3.2.Image Feature Comparison -- 13.3.3.Position Fixing Using Individual Features -- 13.3.4.Position Fixing by Whole-Image Matching -- 13.3.5.Visual Odometry -- 13.3.6.Feature Tracking -- 13.3.7.Stellar Navigation -- 13.4.Other Feature-Matching Techniques -- 13.4.1.Gravity Gradiometry -- 13.4.2.Magnetic Field Variation -- 13.4.3.Celestial X-Ray Sources -- References -- ch. 14 INS/GNSS Integration -- 14.1.Integration Architectures -- 14.1.1.Correction of the Inertial Navigation Solution -- 14.1.2.Loosely Coupled Integration -- 14.1.3.Tightly Coupled Integration -- 14.1.4.GNSS Aiding -- 14.1.5.Deeply Coupled Integration -- 14.2.System Model and State Selection -- 14.2.1.State Selection and Observability -- 14.2.2.INS State Propagation in an Inertial Frame -- 14.2.3.INS State Propagation in an Earth Frame -- 14.2.4.INS State Propagation Resolved in a Local Navigation Frame -- 14.2.5.Additional IMU Error States -- 14.2.6.INS System Noise -- 14.2.7.GNSS State Propagation and System Noise -- 14.2.8.State Initialization -- 14.3.Measurement Models -- 14.3.1.Loosely Coupled Integration -- 14.3.2.Tightly Coupled Integration -- 14.3.3.Deeply Coupled Integration -- 14.3.4.Estimation of Attitude and Instrument Errors -- 14.4.Advanced INS/GNSS Integration -- 14.4.1.Differential GNSS -- 14.4.2.Carrier-Phase Positioning -- 14.4.3.GNSS Attitude -- 14.4.4.Large Heading Errors -- 14.4.5.Advanced IMU Error Modeling -- 14.4.6.Smoothing -- References -- ch. 15 INS Alignment, Zero Updates, and Motion Constraints -- 15.1.Transfer Alignment -- 15.1.1.Conventional Measurement Matching -- 15.1.2.Rapid Transfer Alignment -- 15.1.3.Reference Navigation System -- 15.2.Quasi-Stationary Alignment -- 15.2.1.Coarse Alignment -- 15.2.2.Fine Alignment -- 15.3.Zero Updates -- 15.3.1.Stationary-Condition Detection -- 15.3.2.Zero Velocity Update -- 15.3.3.Zero Angular Rate Update -- 15.4.Motion Constraints -- 15.4.1.Land Vehicle Constraints -- 15.4.2.Pedestrian Constraints -- 15.4.3.Ship and Boat Constraint -- References -- ch. 16 Multisensor Integrated Navigation -- 16.1.Integration Architectures -- 16.1.1.Cascaded Single-Epoch Integration -- 16.1.2.Centralized Single-Epoch Integration -- 16.1.3.Cascaded Filtered Integration -- 16.1.4.Centralized Filtered Integration -- 16.1.5.Federated Filtered Integration -- 16.1.6.Hybrid Integration Architectures -- 16.1.7.Total-State Kalman Filter Employing Prediction -- 16.1.8.Error-State Kalman Filter -- 16.1.9.Primary and Reversionary Moding -- 16.1.10.Context-Adaptive Moding -- 16.2.Dead Reckoning, Attitude, and Height Measurement -- 16.2.1.Attitude -- 16.2.2.Height and Depth -- 16.2.3.Odometry -- 16.2.4.Pedestrian Dead Reckoning Using Step Detection -- 16.2.5.Doppler Radar and Sonar -- 16.2.6.Visual Odometry and Terrain-Referenced Dead Reckoning -- 16.3.Position-Fixing Measurements -- 16.3.1.Position Measurement Integration -- 16.3.2.Ranging Measurement Integration -- 16.3.3.Angular Measurement Integration -- 16.3.4.Line Fix Integration -- 16.3.5.Handling Ambiguous Measurements -- 16.3.6.Feature Tracking and Mapping -- 16.3.7.Aiding of Position-Fixing Systems -- References -- ch. 17 Fault Detection, Integrity Monitoring, and Testing -- 17.1.Failure Modes -- 17.1.1.Inertial Navigation -- 17.1.2.Dead Reckoning, Attitude, and Height Measurement -- 17.1.3.GNSS -- 17.1.4.Terrestrial Radio Navigation -- 17.1.5.Environmental Feature Matching and Tracking -- 17.1.6.Integration Algorithm -- 17.1.7.Context -- 17.2.Range Checks -- 17.2.1.Sensor Outputs -- 17.2.2.Navigation Solution -- 17.2.3.Kalman Filter Estimates -- 17.3.Kalman Filter Measurement Innovations -- 17.3.1.Innovation Filtering -- 17.3.2.Innovation Sequence Monitoring -- 17.3.3.Remedying Biased State Estimates -- 17.4.Direct Consistency Checks -- 17.4.1.Measurement Consistency Checks and RAIM -- 17.4.2.Parallel Solutions -- 17.5.Infrastructure-Based Integrity Monitoring -- 17.6.Solution Protection and Performance Requirements -- 17.7.Testing -- 17.7.1.Field Trials -- 17.7.2.Recorded Data Testing -- 17.7.3.Laboratory Testing -- 17.7.4.Software Simulation -- References -- ch. 18 Applications and Future Trends -- 18.1.Design and Development -- 18.2.Aviation -- 18.3.Guided Weapons and Small UAVs -- 18.4.Land Vehicle Applications -- 18.5.Rail Navigation -- 18.6.Marine Navigation -- 18.7.Underwater Navigation -- 18.8.Spacecraft Navigation -- 18.9.Pedestrian Navigation -- 18.10.Other Applications -- 18.11.Future Trends -- References.…”
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