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Global Positioning Systems, Inertial Navigation and Integration [Hardcover]

Mohinder S. Grewal , Lawrence R. Weill , Angus P. Andrews


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Hardcover, 16 Jan 2001 --  
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Global Navigation Satellite Systems, Inertial Navigation, and Integration Global Navigation Satellite Systems, Inertial Navigation, and Integration
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Book Description

16 Jan 2001
The only comprehensive guide to Kalman filtering and its applications to real–world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS–aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:
∗ Representing the problem in a mathematical model
∗ Analyzing the performance of the GPS sensor as a function of model parameters
∗ Implementing the mechanization equations in numerically stable algorithms
∗ Assessing computation requirements
∗ Testing the validity of results
∗ Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.

An Instructor′s Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.


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Review

"…reading this book is a joy…Engineers can benefit from this book with regard to designing novel GPSs." (Computing Reviews.com, September 13, 2007)

"A text for an introductory course in the technology at the senior or first–level graduate level that practicing engineers and scientists could also use for self–study." (SciTech Book News, Vol. 25, No. 4, December 2001)

From the Back Cover

The only comprehensive guide to Kalman filtering and its applications to real–world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS–aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:

  • Representing the problem in a mathematical model
  • Analyzing the performance of the GPS sensor as a function of model parameters
  • Implementing the mechanization equations in numerically stable algorithms
  • Assessing computation requirements
  • Testing the validity of results
  • Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.


Inside This Book (Learn More)
First Sentence
The five basic forms of navigation are as follows: 1. Pilotage, which essentially relies on recognizing landmarks to know where you are. Read the first page
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Front Cover | Copyright | Table of Contents | Excerpt | Index | Back Cover
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Customer Reviews

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Most Helpful Customer Reviews on Amazon.com (beta)
Amazon.com: 4.2 out of 5 stars  5 reviews
11 of 12 people found the following review helpful
5.0 out of 5 stars GPS World Magazine reviewer recommends this book 12 Oct 2001
By A Customer - Published on Amazon.com
Format:Hardcover
Here are some quotes from a review of this book in GPS World, July 2001, pp 46-47, by Dr. John Angus, a consultant and researcher in the area of GPS-aided navigation systems, AND professor at Claremont Graduate University, Claremont, CA. Dr. Angus' credentials qualify him to review this book.
"Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them "glued" together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided."
"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."
"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."
"...recommended for personal and professional libraries."
This is an application-oriented book, which as such, does not include detailed mathematical derivations. It does provide Kalman filter algorithms (on floppy and in text), but if one needs the theory of Kalman filtering behind these, one needs to use a Kalman filtering text, such as Kalman Filtering Theory & Practice Using MATLAB (Second Edition), Wiley 2001, by Grewal and Andrews. The latter book gives all of the methods in square root filtering algorithms and derivations and more. If the "Asian Reviewer" is most interested in Kalman filtering, he/she would be better advised to buy a book on Kalman filtering.
8 of 10 people found the following review helpful
5.0 out of 5 stars GPS World Magazine reviewer recommends this book 12 Oct 2001
By A Customer - Published on Amazon.com
Format:Hardcover
Here are some quotes from a review of this book in GPS World, July 2001, pp 46-47, by Dr. John Angus, a consultant and researcher in the area of GPS-aided navigation systems, AND professor at Claremont Graduate University, Claremont, CA. Dr. Angus' credentials qualify him to review this book.
"Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them "glued" together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided."
"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."
"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."
"...recommended for personal and professional libraries."
This is an application-oriented book, which as such, does not include detailed mathematical derivations. It does provide Kalman filter algorithms (on floppy and in text), but if one needs the theory of Kalman filtering behind these, one needs to use a Kalman filtering text, such as Kalman Filtering Theory & Practice Using MATLAB (Second Edition), Wiley 2001, by Grewal and Andrews. The latter book gives all of the methods in square root filtering algorithms and derivations and more. If the "Asian Reviewer" is most interested in Kalman filtering, he/she would be better advised to buy a book on Kalman filtering.
4.0 out of 5 stars GPS, INS and Kalman Filtering finally in one single book 8 Feb 2009
By Marcelo T. Basile - Published on Amazon.com
Format:Hardcover|Verified Purchase
This book puts all together concepts and theories normally found only in separated books. GPS, inertial navigation and how to integrate both things normally require reading a lot of different articles and journals. These subjects are individually complex and demanding but its modern GPS concepts approach were deep enough to allow the proper correlation between the inertial theory and GPS through the Kalman Filtering. The book demands some previous and basic concepts knowledge regarding filtering. And if you are a self-made student you will miss the answers for the proposed problems which worth trying to solve. But it should not prevent you to buy this book. It is clear that the authors are not only one of main expertise on their area but know how to transmit their great experience.
14 of 25 people found the following review helpful
2.0 out of 5 stars Almost completely useless book ... 10 Oct 2001
By A Customer - Published on Amazon.com
Format:Hardcover
Of course the experience of the authors is great but none of it you can use either in your study or research. It is impossible to learn about Kalman filtering from this book as well as to improve your knowledge in this area. Book is intended for professionals in this area but professionals will not need it. Many intersting facts but no detailed information. For example one can know that the square root filtering method came from James Potter but there is nothing more about this method from this book. Otherwise you have to study sources of the software (included). Book is written as advertizing of author's skills and nothing else. Too much about nothing ...
2 of 10 people found the following review helpful
5.0 out of 5 stars Best source of information on GPS 2 Dec 2002
By A Customer - Published on Amazon.com
Format:Hardcover
One of the students in my lecture came up to me and said he had studied this book all summer to learn about GPS. He found it to be very helpful to him and he said it was the best source of information on GPS he had come across.
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