LC ebook record available at https://lccn.loc.gov/2019038561
Cover design by Wiley
Cover image: © Busakorn Pongparnit/Getty Images
M.S.G. dedicates this book to the memory of his parents, Livlin Kaur and Sardar Sahib Sardar Karam Singh Grewal.
A.P.A. dedicates his contributions to his wife Jeri, without whom it never would have happened.
C.G.B. dedicates this work to his wife Shirley and two sons, Christopher and Stephen, for their never‐ending support over the years.
Preface to the Fourth Edition
This book is intended for people who need a working knowledge of Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and the Kalman filtering models and methods used in their integration. The book is designed to provide a useable, working familiarity with both the theoretical and practical aspects of these subjects. For that purpose we have included “real‐world” problems from practice as illustrative examples. We also cover the more practical aspects of implementation: how to represent problems in a mathematical model, analyze performance as a function of model parameters, implement the mechanization equations in numerically stable algorithms, assess its computational requirements, test the validity of results, and monitor performance in operation with sensor data from GPS and INS. These important attributes, often overlooked in theoretical treatments, are essential for effective application of theory to real‐world problems.
The companion Wiley website (www.wiley.com/go/grewal/gnss) contains MATLAB® m‐files to demonstrate the workings of the navigation solutions involved. It includes Kalman filter algorithms with GNSS and INS data sets, so that the reader can better discover how the Kalman filter works by observing it in action with GNSS and INS. The implementation of GNSS, INS, and Kalman filtering on computers also illuminates some of the practical considerations of finite‐word‐length arithmetic and the need for alternative algorithms to preserve the accuracy of the results. If the student wishes to apply what she or he learns, then it is essential that she or he experience its workings and failings – and learn to recognize the difference.
The book is organized for use as a text for an introductory course in GNSS technology at the senior level or as a first‐year graduate level course in GNSS, INS, and Kalman filtering theory and applications. It could also be used for self‐instruction or review by practicing engineers and scientists in these fields.
This fourth edition has been updated to include advancements in GNSS/INS technology since the third edition in 2013, as well as many improvements suggested by reviewers and readers of the second edition. Changes in this fourth edition include the following:
1 Updates on the significant upgrades in existing GNSS systems and on other systems currently under advanced development.
2 Expanded coverage of basic principles of antenna design and practical antenna design solutions are included.
3 Expanded coverage of basic principles of receiver design, and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver.
4 Examples demonstrating independence of Kalman filtering from probability density functions of error sources beyond their means and covariances, and how this breaks down with nonlinearities.
5 Updated coverage of inertial navigation to cover recent technology developments and the mathematical models and methods used in its implementation.
6 Updated dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parameters and nonlinearities.
7 Greatly expanded coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB implementations, and performance evaluation under simulated dynamic conditions.
The companion Wiley website has also been augmented to include updated background material and additional MATLAB scripts for simulating GNSS‐only and integrated GNSS/INS navigation. The companion website (www.wiley.com/go/grewal/gnss) includes satellite position determination, calculation of ionospheric delays, and dilution of precision.
Chapter 1 provides an overview of navigation in general, and GNSS and inertial navigation in particular. These overviews include fairly detailed descriptions of their respective histories, technologies, different implementation strategies, and applications.
Chapter 2 covers the fundamental attributes of satellite navigation systems in general, the technologies involved, how the navigation solution is implemented, and how satellite geometries influence errors in the solution.
Chapter 3 covers the fundamentals of inertial navigation, starting with its nomenclature, and continuing through to practical implementation methods, error sources, performance attributes, and development strategies.
Chapters 4–9 cover basic theory of GNSS for a senior‐level class in geomatics, electrical engineering, systems engineering, and computer science. Subjects covered in detail include basic GNSS satellite signal structures, practical receiver antenna designs, receiver implementation structures, error sources, signal processing methods for eliminating or reducing recognized error sources, and system augmentation methods for improving system integrity and security.
Chapter 10 covers the fundamental aspects of Kalman filtering essential for GNSS/INS integration: its mathematical foundations and basic implementation methods, its application to sensor integration in general, and to GNSS navigation in particular. It also covers how the implementation includes its own performance evaluation, and how this can be used in performance‐predictive design of sensor systems.
Chapter 11 covers the basic errors sources and models for inertial navigation, including the effects of sensor noise and errors due to drifting inertial sensor error characteristics, how the resulting navigation errors evolve over time, and the resulting models that enable INS integration with other sensor systems.
Chapter 12 covers the essential mathematical foundations for GNSS/INS integration, including a unified navigation model, its implementation in MATLAB, evaluations of the resulting unified system performance under simulated dynamic conditions, and demonstration of the navigation performance improvement attainable through integrated navigation.
Appendix A contains brief descriptions of the MATLAB® software, including formulas implementing the models developed in MATLAB® different chapters and used for demonstrating how they work. Appendix B and Appendix C (www.wiley.com/go/grewal/gnss) contains background material on coordinate systems and transformations implemented in the software, including derivations of the rotational dynamics used in navigation error modeling and GNSS/INS integration.
For instructors that wish to cover the fundamental aspects of GNSS, Chapters 1–2 and 4–9