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Informationen zum Autor Alexander V. Nebylov, State University of Aerospace Instrumentation, Russia Professor and Chairman of Aerospace Devices and Measuring Complexes, State University of Aerospace Instrumentation in St. Petersburg and Director of the International Institute for Advanced Aerospace Technologies. He is a member of the leadership of the IFAC Aerospace Technical Committee since 2002. Dr. Joseph Watson, Swansea University, UK Dr. Joseph Watson is retired former Associate Editor of the IEEE Sensors Journal and Visiting Professor at the University of Calgary, Canada, the University of California, Davis and Santa Barbara. He is a Fellow of IET, Senior Member of the IEEE. Dr. Watson has continued as President of the UK-based Gas Analysis and Sensing Group. Klappentext Compiled by leading authorities, Aerospace Navigation Systems is a compendium of chapters that present modern aircraft and spacecraft navigation methods based on up-to-date inertial, satellite, map matching and other guidance techniques. Ranging from the practical to the theoretical, this book covers navigational applications over a wide range of aerospace vehicles including aircraft, spacecraft and drones, both remotely controlled and operating as autonomous vehicles. It provides a comprehensive background of fundamental theory, the utilisation of newly-developed techniques, incorporates the most complex and advanced types of technical innovation currently available and presents a vision for future developments. Satellite Navigation Systems (SNS), long range navigation systems, short range navigation systems and navigational displays are introduced, and many other detailed topics include Radio Navigation Systems (RNS), Inertial Navigation Systems (INS), Homing Systems, Map Matching and other correlated-extremalsystems, and both optimal and sub-optimal filtering in integrated navigation systems. Inhaltsverzeichnis The Editors xi Acknowledgments xii List of Contributors xiii Preface xv 1 Inertial Navigation Systems 1 Michael S. Braasch 1.1 Introduction 1 1.2 The Accelerometer Sensing Equation 2 1.3 Reference Frames 3 1.3.1 True Inertial Frame 3 1.3.2 Earth?-Centered Inertial Frame or i?-Frame 3 1.3.3 Earth?-Centered Earth?-Fixed Frame or e?-Frame 3 1.3.4 Navigation Frame 3 1.3.5 Body Frame 4 1.3.6 Sensor Frames (a?-Frame, g?-Frame) 5 1.4 Direction Cosine Matrices and Quaternions 5 1.5 Attitude Update 6 1.5.1 Body Frame Update 7 1.5.2 Navigation Frame Update 8 1.5.3 Euler Angle Extraction 9 1.6 Navigation Mechanization 10 1.7 Position Update 11 1.8 INS Initialization 12 1.9 INS Error Characterization 14 1.9.1 Mounting Errors 14 1.9.2 Initialization Errors 14 1.9.3 Sensor Errors 14 1.9.4 Gravity Model Errors 14 1.9.5 Computational Errors 15 1.9.6 Simulation Examples 15 1.10 Calibration and Compensation 23 1.11 Production Example 24 References 25 2 Satellite Navigation Systems 26 Walter Geri, Boris V. Shebshaevich and Matteo Zanzi 2.1 Introduction 26 2.2 Preliminary Considerations 27 2.3 Navigation Problems Using Satellite Systems 27 2.3.1 The Geometrical Problem 28 2.3.2 Reference Coordinate Systems 29 2.3.3 The Classical Mathematical Model 33 2.4 Satellite Navigation Systems (GNSS) 38 2.4.1 The Global Positioning System 38 2.4.2 GLONASS 51 2.4.3 Galileo 56 2.4.4 BeiDou (Compass) 61 2.4.5 State and Development of the Japanese QZSS 63 2.4.6 State and Development of the IRNSS 64 2.5 GNSS Observables 65 2.5.1 Carrier?-Phase Observables 65 2.5.2 Doppler Frequency Observables 68 2.5.3 Single?-Difference Obse...
