Inertial Systems in Navigation and
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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.
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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.
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 [go top]
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Dear Doctor. I thank you for the book you sent me, it is really clear
and well written.
|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.
Director - Agsystems Pty Ltd