Navigation systems engineering is a red-hot area. More and more technical professionals are entering the field and looking for practical, up-to-date engineering know-how. This single-source reference answers the call, providing both an introduction to overall systems operation and an in-depth treatment of architecture, design, and component integration. This book explains how satellite, on-board, and other navigation technologies operate, and it gives practitioners insight into performance issues such as processing chains and error sources. Providing solutions to systems designers and engineers, the book describes and compares different integration architectures, and explains how to diagnose errors. Moreover, this hands-on book includes appendices filled with terminology and equations for quick referencing.

Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems

This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning. DVD Included: Features eleven appendices, interactive worked examples, basic GNSS and INS MATLAB simulation software, and problems and exercises to help you master the material.

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition

This second edition of Dr. Grove's book (the original was published in 2008) could arguably be considered a new work. At just under 1,000 pages (including the 11 appendices on the DVD), the second edition is 80% longer than the original. Frankly, the word "book" hardly seems adequate, considering the wide range of topics covered. "Mini-encyclopedia" seems more appropriate. The hardcover portion of the book comprises 18 chapters, and the DVD includes the aforementioned appendices plus 20 fully worked examples, 125 problems or exercises (with answers), and MATLAB routines for the simulation of many of the algorithms discussed in the main text. Here is a brief overview of the contents: ▸ Chapters 1–3: an overview of the diversity of positioning techniques and navigation systems; fundamentals of coordinate frames, kinematics and earth models; introduction to Kaiman filtering ▸ Chapters 4–6: inertial sensors, inertial navigation, and lower-cost dead reckoning systems ▸ Chapters 7–12: principles of radio positioning, short-, medium-, and long-range radio navigation, as well as extensive coverage of global navigation satellite systems (GNSS) ▸ Chapter 13: environmental feature matching. ▸ Chapters 14–16: various integration topics, including inertial navigation system (INS)/GNSS integration, alignment, zero-velocity updates, and multisensor integration ▸ Chapter 17: fault detection. ▸ Chapter 18: applications and trends. In summary, this book is an excellent reference (with numerous nuggets of wisdom) that should be readily handy on the shelf of every practicing navigation engineer. In the hands of an experienced instructor, the book will also serve students as a great textbook. However, the lack of examples integrated in the main text makes it difficult for the book to serve as a self-study guide for those that are new to the field.

Principles of GNSS, inertial, and multisensnr integrated navigation systems, 2nd edition [Book review]

This paper describes the Multiplexed Binary Offset Carrier (MBOC) spreading modulation that has been recommended by the GPS-GALILEO Working Group on Interoperability and Compatibility. The MBOC(6,1,1/11) power spectral density is a mixture of BOC(1,1) spectrum and BOC(6,1) spectrum, that would be used by GALILEO for its Open Service (OS) signal at L1 frequency, and also by GPS for its modernized L1 Civil (L1C) signal. A number of different time waveforms can produce the MBOC(6,1,1/11) spectrum, allowing flexibility in implementation, although interoperable waveforms remains an objective for GALILEO and GPS. The time-multiplexed BOC (TMBOC) implementation interlaces BOC(6,1) and BOC(1,1) spreading symbols in a regular pattern, whereas composite BOC (CBOC) uses multilevel spreading symbols formed from the weighted sum of BOC(1,1) and BOC(6,1) spreading symbols, interplexed to form a constant modulus composite signal. This paper provides information on the history, motivation, and construction of MBOC signals. It then shows various performance characteristics, and summarizes their status in GALILEO and GPS signal design.

MBOC: The New Optimized Spreading Modulation Recommended for GALILEO L1 OS and GPS L1C

The Global Navigation Satellite System (GNSS) is the worldwide set of satellite navigation constellations, civil aviation augmentations, and user equipment. This paper reviews the current status and future plans of the elements of GNSS as it pertains to civil aviation. The paper addresses the following satellite navigation systems: the U.S. Global Positioning System (GPS), Russian GLONASS, European Galileo, Chinese Compass, Japanese Quasi Zenith Satellite System, and Indian Regional Navigation Satellite System. The paper also describes aviation augmentations including aircraft-based, satellite-based, ground-based, and ground-based regional augmentation systems defined by the International Civil Aviation Organization. Lastly, this paper details typical user equipment configurations and civil aviation applications of GNSS including navigation, automatic dependent surveillance, terrain awareness warning systems, and timing.

Evolution of the Global Navigation SatelliteSystem (GNSS)

Analysis of the open service modulation waveforms proposed for the Galileo signal on L1 shows that the combined binary coded symbol (BCS) and BOC(1,1) waveforms, as proposed at GNSS ION 2005, may induce tracking bias in a receiver designed to receive only the BOC(1,1) waveform. Navigation using a mixed constellation of modernised GPS satellite broadcasting a BOC(1,1) component and Galileo with one of the possible additive mixtures of BCS and BOC(1,1) - would lead to potential location errors if no corrective measures are taken. The bias depends upon the correlator spacing in the code tracking detector. There are several ways to calibrate the bias. One of these uses a stored table of corrections for use with Galileo signals whose entries depend upon the receiver parameters. Another method uses additional satellite signals and establishes a filter state in a Kalman navigation processor. In this case, the presence of multi-path propagation makes such calibration difficult for users with a finite observation time. An alternative solution uses phase alternation of the BCS component at the chip rate to eliminate the measurement bias for correlator spacings smaller than 0.4 chips. The trend is indeed to use smaller and smaller correlator spacings in the near future. The paper illustrates the tracking bias with examples from the current Galileo signal proposals. The paper establishes an effective method of removing or avoiding the bias corresponding to changes in the satellite signal. We show that the tracking bias is sensitive to the choice of the BCS waveform and to its use in a receiver adapted for BOC(1,1) reception. The main contribution of the paper is to show that there are BCS sequences which lead to bias-free pseudo-range estimates through appropriate design rules. These belong to a set known as anti-symmetric sequences. The resulting set of allowed BCS sequences is very limited in number. There are none of sequence length 10, as proposed originally for Galileo. The spectral properties of the best sequence is shown. There are consequential changes to the performance of the composite spreading symbol sequences in the presence of multi- path propagation and these effects are also shown and may be compared to previous Galileo signal proposals.

A.R. Pratt

Papers

MBOC: The New Optimized Spreading Modulation Recommended for GALILEO L1 OS and GPS L1C

Tracking Complex Modulation Waveforms - How to Avoid Receiver Bias

Time and Amplitude Quantisation Losses in GNSS Receivers