By Mohinder S. Grewal
The one finished consultant to Kalman filtering and its functions to real-world GPS/INS problems
Written through well-known specialists within the box, this ebook offers engineers, machine scientists, and others with a operating familiarity with the idea and modern purposes of world Positioning platforms (GPS), Inertial Navigational structures, and Kalman filters. all through, the focal point is on fixing real-world difficulties, with an emphasis at the potent use of cutting-edge integration innovations for these structures, in particular the appliance of Kalman filtering. as a result, the authors discover a few of the subtleties, universal mess ups, and inherent obstacles of the speculation because it applies to real-world events, and supply a variety of distinctive program examples and perform difficulties, together with GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.
Drawing upon their a long time of expertise with GPS, INS, and the Kalman filter out, the authors current quite a few layout and implementation concepts now not present in different specialist references, together with unique suggestions for:
* Representing the matter in a mathematical model
* studying the functionality of the GPS sensor as a functionality of version parameters
* imposing the mechanization equations in numerically strong algorithms
* Assessing computation requirements
* trying out the validity of results
* tracking GPS, INS, and Kalman clear out functionality in operation
in an effort to increase comprehension of the topics lined, the authors have integrated software program in MATLAB, demonstrating the workings of the GPS, INS, and clear out algorithms. as well as displaying the Kalman clear out in motion, the software program additionally demonstrates quite a few sensible features of finite observe size mathematics and the necessity for replacement algorithms to maintain outcome accuracy.
An Instructor's guide offering targeted ideas to all of the difficulties within the booklet is out there from the Wiley editorial department.