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.
Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.
Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include:GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms
To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.
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.
Over the last fifty years, humanity has developed an extraordinary shared utility: the Global Positioning System. Even as it guides us across town, GPS helps land planes, route mobile calls, anticipate earthquakes, predict weather, locate oil deposits, measure neutrinos, grow our food, and regulate global finance. It is as ubiquitous and essential as another Cold War technology, the Internet. In Pinpoint, Greg Milner takes us on a fascinating tour of a hidden system that touches almost every aspect of our modern life.
While GPS has brought us breathtakingly accurate information about our planetary environment and physical space, it has also created new forms of human behavior. We have let it saturate the world’s systems so completely and so quickly that we are just beginning to confront the possible consequences. A single GPS timing flaw, whether accidental or malicious, could bring down the electrical grid, hijack drones, or halt the world financial system. The use, and potential misuse, of GPS data by government and corporations raise disturbing questions about ethics and privacy. GPS may be altering the nature of human cognition—possibly even rearranging the gray matter in our heads.
Pinpoint tells the sweeping story of GPS from its conceptual origins as a bomb guidance system to its presence in almost everything we do. Milner examines the different ways humans have understood physical space, delves into the neuroscience of cognitive maps, and questions GPS’s double-edged effect on our culture. A fascinating and original story of the scientific urge toward precision, Pinpoint offers startling insight into how humans understand their place in the world.