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Fundamentals of Inertial Navigation Systems and Aiding (Hardcover)
Loot Price: R3,255
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Fundamentals of Inertial Navigation Systems and Aiding (Hardcover)
Series: Radar, Sonar and Navigation
Expected to ship within 10 - 15 working days
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The aim of this book is to provide an advanced introduction to
inertial data processing (determination of attitude, velocity and
position) along with design architectures and algorithms used to
aid the inertial navigation system (INS). The emphasis is on the
high-end sensors and systems used in aerospace applications (known
as 'navigation grade' or 'nav grade'). The subject of inertial
navigation systems and how to aid them (reduce their inherent error
drift) is complex and multi-disciplinary. Mathematics and physics
along with electrical, mechanical and software engineering all are
involved. This book has been written to serve as an introduction
for students and those new to the field. Specialized topics such as
rotation matrices, quaternions and relevant stochastic processes
are covered in the book. The reader is expected to have a basic
understanding of vectors, matrices and matrix multiplication as
well as freshman-level differential and integral calculus. The
basics of inertial position/velocity/attitude updating are first
presented with respect to a conceptually simple inertially-fixed
reference frame before the impact of the spheroidal rotating earth
is covered. Similarly, the key concepts of the Kalman filter are
first presented in the context of a scalar filter. Important
aspects of the prediction error covariance and Kalman gain
equations are thus covered in an intuitive sense before the full
matrix formulations are described. By the end of the book, a
thorough treatment of modern aided-INS architectures is provided.
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