Inertial Systems in Navigation and Geophysics
  by prof. Oleg Salychev

  Your complete guide in inertial technology

ISBN 5-7038-1346-8
360 pages
50 figures
English
hard cover

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    In this book, Professor Oleg S. Salychev, director of the Laboratory of Inertial Geodetic Systems (LIGS) at the Moscow State Technical University and adjunct professor at the Department of Geomatics Engineering of The University of Calgary, describes advances made during the past decade in the use of inertial technology for navigation and the geosciences. Since Professor Salychev was instrumental in bringing about many of these advances, the reader will get a first-hand account of new application areas and current research developments, as well as a solid introduction into the principles of inertial navigation, the integration of inertial systems with the Global Positioning System (GPS), and the use of selected filtering methods for the processing of such data. As in his previous books, Professor Salychev does not shy away from controversial topics and provides the reader with stimulating reading.

Dr. Klaus-Peter Schwarz
Professor
President, International Association of Geodesy

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Foreword

     The present text can be considered as an attempt to submit applied aspects of inertial technology and estimation theory for the navigation and geophysics. The question which I ask to myself is: what knowledge is it necessary to use in order to solve the modern navigation and geodetic tasks connected with inertial systems? The answer on this question, how I see that, is included in the present book.  On the one hand it is clear that the modern navigation, geodesy and geophysics are really supported by the inertial technology even if the users have so precise instrument as a GPS. On the other hand the inertial navigation system is not a simple tool which could be used without necessary background on the inertial technology. Hence, the first goal of the present book is to introduce the readers into the inertial navigation: from principles to applied algorithms and testing. But, present material could not be considered as a comprehensive text dedicated to the inertial navigation theory, as one more book in the mentioned direction. I try to reach a key for the inertial technology understanding in order to use the inertial system as a tool for the solution of the modern navigation and geophysical tasks. It is a reason to present above knowledge  in most applied form as possible.
Oleg Salychev

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Book content:

Chapter 1 Coordinate Frames
	 1.1 Inertial Frame
     	 1.2 Earth-fixed Frame
     	 1.3 Local-level Frame
     	 1.4 Wander Frame
     	 1.5 Body Frame
     	 1.6 Navigation Frame
     	 1.7 Platform Frame              
Chapter 2 Coordinate transformation
     	 2.1 Direction cosine matrix
     	 2.2 Puasson equation
     	 2.3 Rotation vector and quaternions              
Chapter 3 Principles of inertial navigation
     	 3.1 General navigation equation
     	 3.2 Classification of Inertial Navigation Systems
     		 3.2.1 Local-level INS
     		 3.2.2 Strapdown Inertial Navigation System
     		 3.2.3 Principle of INS Alignment              
Chapter 4 Applied navigation algorithm
     	 4.1 Strapdown system navigation algorithm
     		 4.1.1 Attitude calculation
     	 4.2 Applied alignment procedures
     		  4.2.1Stored azimuth alignment
     		 4.2.2 Alternative fine alignment procedure
     	 4.3 Description of SINS's functional scheme              
Chapter 5 INS Error Model              
Chapter 6 INS Calibration procedures              
Chapter 7 INS testing
     	 7.1 INS lab testing procedures
     	 7.2 INS's field testing              
Chapter 8 Applied estimation theory
     	 8.1 Traditional methods
     		 8.1.1 Kalman filter
     		 8.1.2 Estimation modes
     	 8.2 Suggested estimation approaches
     		 8.2.2 Wave Estimation
     		 8.2.3 Wave approach modifications
     		 8.2.4 Remarks to Applications
     		 8.2.5  Adaptive filtering
     		 8.2.6 New results in Kalman filtering              
Chapter 9 INS/GPS integration in navigation applications
     	 9.1 GPS Techniques and Error
    		 9.1.1 Measurement and Computation Techniques
     		 9.1.2 GPS Error Sources
     		 9.1.3 Losses of satellites
     		 9.1.4 Deduction to the section
     	 9.2 GPS-GLONASS background
     		 9.2.1 Ashtech GG24 receiver performances
     		 9.2.2 Stand-alone Test
     	 9.3 INS/GPS-GLONASS integration
     		 9.3.1 Statement of problem
     		 9.3.2 Adaptive estimation algorithm
     	 9.4 Position reckoning with rough GPS data
                                                                                                        
Chapter 10 INS/GPS in geodetic application						     	 
	10.1 Surveying system
     		 10.1.1 Inertial Positioning
     		 10.1.2 INS/GPS Integration              
     	 10.2 Determination of gravity disturbance vector
     	 10.3 Inertial Survey System ITC-2
     	 10.4 Airborne gravimetry
     		 10.4.1 Principal Model
     		 10.4.2 Model Selection
    		 10.4.3 Limits of Kalman Filtering
     		 10.4.4 Deterministic Approach              
     	 10.5 Testing Results
     		 10.5.1 Data Processing
     		 10.5.2 Flight Tests Results
     	 10.6 Airborne Gravity Prospecting
     		 10.6.1 Airborne gravimetry techniques
     		 10.6.2 Gravity survey results              
APPENDIX
      A Measurement model         
      B Wave algorithm deductions              
      C Suggested algorithm and traditional procedures              
      D Coning calculation       
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Replays:

Dear Doctor. I thank you for the book you sent me, it is really clear   and well written.
Cyril Heliot, French student


I am a professor at the University of Florida in robotics and machine intelligence. Your book sounds very interesting and we might be able to use it in our course in robotic construction and sensors.
Prof A. Antonio Arroyo, Director Machine Intelligence Laboratory
Dept. of Electrical & Computer Engineering, University of Florida

Dear Professor Salychev
I have recently read your latest book 'Inertial Systems in Navigation and Geophysics' which I found most comprehensive and effective for all levels of inertial navigation applications.  I wish to use this text as part of our postgraduate teaching program and would like to enquire if you have any software available to accompany the book. I am interested in any software routines to teach students the basics of processing raw inertial navigation data at an introductory level.  Thanking you in advance
Dr Maria Tsakiri , Lecturer School of Spatial Sciences,
Curtin University of Technology ,Perth , Australia

Dear Professor Oleg Salychev
We are very grateful that you have written such an excellent book, and that you have provided answers to Min Xi's questions thus far. We wish to further discuss your suggestion about providing answers to questions on a mutually beneficial basis. Be assured that we are quite to prepared to compensate you for your time.  I feel certain that Min Xi is close to being able to generate some useful results for us, and my hope is that you can assist us in arriving at a result sooner than we otherwise would.
Again thanks for your assistance so far.

Kind Regards
Robert Mailler
Director - Agsystems Pty Ltd
Australia