By Jay Farrell
There is not anything particularly fallacious with this publication. The format is logical. The chapters are good organised, even though there's a few to-and-fro among the self-alignment and AHRS chapters. there's instance code that turns out to paintings (except, in fact, for the relatively vital chapters).
The challenge is, Groves (Principles of GNSS, Inertial, and Multi-Sensor built-in Navigation structures (GNSS know-how and Applications)) does it higher, extra logically and, as a practitioner, extra beneficial in enforcing a GPS/INS system.
It does perform a little issues larger than Groves: it introduces Doppler radar, barometric measurements and different sensors and indicates how they are often positioned into the framework. It additionally does quaternions, whatever slightly addressed in Groves.
However, from a practitioner's standpoint, the "advantage" of leaving the rotation description as impartial makes the presentation tougher to stick with. Groves sticks to DCM for the sake of readability and it pulls off.
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Additional info for Aided Navigation: GPS with High Rate Sensors
The platform frame axes are deﬁned to be mutually orthogonal and righthanded, but their speciﬁc directions are application dependent. Often the rotation matrix Rbp is constant and determined at the design stage. 8 Instrument Frames Typically an instrument frame-of-reference is deﬁned by markings on the case of the instrument. Sensors within the instrument resolve their measurements along the sensitive axes of the instruments. Ideally, the instrument sensitive axes align with the instrument frame-of-reference; however, perfect alignment will not be possible under realistic conditions.
Appendix A is provided as a summary of notation used in the book. Appendix B reviews various linear algebra concepts and includes a few more advanced topics. It is intended to serve as a convenient point of reference to make the text more self-contained. Appendix C presents the GPS ephemeris and ionospheric models. The appendix includes an example set of calculations and equations for computing the velocity of the GPS satellites. Appendix D discusses the important topic of quaternions. The main body of the text discusses mainly the Euler angle and direction cosine attitude representations.
3 Geographic Frame The geographic frame is deﬁned locally, relative to the Earth’s geoid. 2. The geographic z-axis points toward the interior of the ellipsoid along the ellipsoid normal. , along the projection of the Earth angular rate vector ω ie onto the plane orthogonal to the z-axis). The y-axis points east to complete the orthogonal, right-handed rectangular coordinate system. Since the origin of the geographic frame travels along with the vehicle, the axes of the frame rotate as the vehicle moves either north or east.
Aided Navigation: GPS with High Rate Sensors by Jay Farrell
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