Global Positioning Systems, Inertial Navigation, and Integration

By Mohinder S. Grewal, Lawrence R. Weill & Angus P. Andrews. This book is organized for use as a text for an introductory course in GPS technology at the senior level or as a first-year graduate level course in GPS, INS, and Kalman filtering. It provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems (INS), 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.