The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.
See What’s New in the Fourth Edition:
Up-to-date information on GNSS and GPS modernization Changes in hardware, software, and procedures Comprehensive treatment of novel signals on new blocks of satellites (L5 and L2C)
The book minimizes your reliance on mathematical explanations and maximizes use of illustrations and examples that allow you to visualize and grasp key concepts. The author explains the progression of ideas at the foundation of satellite positioning and delves into some of the particulars. He keeps presentation practical, providing a guide to techniques used in GPS, from their design through observation, processings, real-time kinematic (RTK), and real-time networks. These features and more make it easier for you to meet the challenge of keeping up in this field.
Written by recognized authorities in the field, this secondedition of a landmark work provides engineers, computer scientists,and others with a working familiarity with the theory andcontemporary applications of Global Navigation Satellite Systems(GNSS), Inertial Navigational Systems (INS), and Kalman filters.Throughout, the focus is on solving real-world problems, with anemphasis on the effective use of state-of-the-art integrationtechniques for those systems, especially the application of Kalmanfiltering. To that end, the authors explore the various subtleties,common failures, and inherent limitations of the theory as itapplies to real-world situations, and provide numerous detailedapplication examples and practice problems, including GNSS-aidedINS, modeling of gyros and accelerometers, and SBAS and GBAS.
Drawing upon their many years of experience with GNSS, INS, andthe Kalman filter, the authors present numerous design andimplementation techniques not found in other professionalreferences. This Second Edition has been updated to include:GNSS signal integrity with SBASMitigation of multipath, including resultsIonospheric delay estimation with Kalman filtersNew MATLAB programs for satellite position determination usingalmanac and ephemeris data and ionospheric delay calculations fromsingle and dual frequency dataNew algorithms for GEO with L1 /L5 frequencies and clocksteeringImplementation of mechanization equations in numerically stablealgorithms
To enhance comprehension of the subjects covered, the authorshave included software in MATLAB, demonstrating the working of theGNSS, INS, and filter algorithms. In addition to showing the Kalmanfilter in action, the software also demonstrates various practicalaspects of finite word length arithmetic and the need foralternative algorithms to preserve result accuracy.
Pinpoint tells the fascinating story of a hidden system that touches nearly every aspect of modern life. Tracking the development of GPS from its origins as a bomb guidance system to its present ubiquity, Greg Milner examines the technology’s double-edged effect on the way we live, work, and travel. Savvy and original, this sweeping scientific history offers startling insight into how humans understand their place in the world.