[...]... xix Global Positioning Systems, Inertial Navigation, and Integration Global Positioning Systems, Inertial Navigation, and Integration, Mohinder S Grewal, Lawrence R Weill, Angus P Andrews Copyright # 2001 John Wiley & Sons, Inc Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9 1 Introduction The ®ve basic forms of navigation are as follows: 1 Pilotage, which essentially relies on recognizing landmarks... wave of the future.'' Global Positioning Systems, Inertial Navigation, and Integration, Mohinder S Grewal, Lawrence R Weill, Angus P Andrews Copyright # 2001 John Wiley & Sons, Inc Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9 2 Fundamentals of Satellite and Inertial Navigation 2.1 NAVIGATION SYSTEMS CONSIDERED This book is about GPS and INS and their integration An inertial navigation unit... information and some estimate of speed 3 Celestial navigation, using time and the angles between local vertical and known celestial objects (e.g., sun, moon, or stars) [115] 4 Radio navigation, which relies on radio-frequency sources with known locations (including Global Positioning System satellites) 5 Inertial navigation, which relies on knowing your initial position, velocity, and attitude and thereafter... is the fullaccuracy, single-receiver GPS positioning service provided to the United States and its allied military organizations and other selected agencies This service includes access to the unencrypted P-code and the removal of any SA effects Standard Positioning Service without SA Standard Positioning Service (SPS) provides GPS single-receiver (stand-alone) positioning service to any user on a continuous,... C=Acode and the L1 carrier Standard Positioning Service with SA The horizontal-position accuracy, as degraded by SA, currently is advertised as 100 m, the vertical-position accuracy as 156 m, and time accuracy as 334 nsÐall at the 95% probability level SPS also guarantees the user-speci®ed levels of coverage, availability, and reliability 1.1.2 GLONASS A second con®guration for global positioning is the Global. .. for route guidance, tracking, and ¯eet management Combining a cellular phone or data link function with this system enables vehicle tracing and= or emergency messaging 1.3.5 Geographic Information Systems (GIS), Mapping, and Agriculture Applications include utility and asset mapping and automated airborne mapping, with remote sensing and photogrammetry Recently, GIS, GPS, and remote sensing have matured... navigation ®x update rate, user set cost, and status of system development and readiness FUNDAMENTALS OF INERTIAL NAVIGATION This is an introductory-level overview of inertial navigation Technical details are in Chapter 6 and [22, 75, 83, 118] 2.2.1 Basic Concepts of Inertial Navigation Inertia is the propensity of bodies to maintain constant translational and rotational velocity, unless disturbed... depth for submarines, and barometric altitude is commonly used to stabilize the vertical channel for aircraft After compensation for sensor errors and gravity, the accelerometer outputs are integrated once and twice to obtain velocity and position, respectively The position estimates are usually converted to longitude, latitude, and altitude 14 FUNDAMENTALS OF SATELLITE AND INERTIAL NAVIGATION Fig... distinguishable electromagnetic signals that are received and processed by a LORAN signal antenna and LORAN signal receiver=processor that are analogous to the Satellite Positioning System signal antenna and receiver=processor A representative LORAN-C system is discussed in LORAN-C User Handbook [85] LORAN-C signals use carrier frequencies of the order of 100 kHz and have maximum reception distances of hundreds... urban and suburban communities 9 10 FUNDAMENTALS OF SATELLITE AND INERTIAL NAVIGATION There are other ground-based radiowave signal systems suitable for use as part of an LD system These include Omega, Decca, Tacan, JTIDS Relnav (U.S Air Force Joint Tactical Information Distribution System Relative Navigation), and PLRS (U.S Army Position Location and Reporting System) See summaries in [84, pp 6±7 and . alt="" Global Positioning Systems, Inertial Navigation, and Integration Global Positioning Systems, Inertial Navigation, and Integration, Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews Copyright. xix Global Positioning Systems, Inertial Navigation, and Integration 1 Introduction The ®ve basic forms of navigation are as follows: 1. Pilotage, which essentially relies on recognizing landmarks. & Sons, Inc. Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9 Global Positioning Systems, Inertial Navigation, and Integration MOHINDER S. GREWAL California State University at Fullerton LAWRENCE