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
* Implementing the mechanization equations in numerically stable
* 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
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