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E-raamat: Introduction to Modern Navigation Systems illustrated edition [World Scientific e-raamat]

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  • Formaat: 256 pages
  • Ilmumisaeg: 10-Apr-2007
  • Kirjastus: World Scientific Publishing Co Pte Ltd
  • ISBN-13: 9789812708755
Teised raamatud teemal:
  • World Scientific e-raamat
  • Hind: 131,21 €*
  • * hind, mis tagab piiramatu üheaegsete kasutajate arvuga ligipääsu piiramatuks ajaks
Introduction to Modern Navigation Systems illustrated editionSuurem pilt
  • Formaat: 256 pages
  • Ilmumisaeg: 10-Apr-2007
  • Kirjastus: World Scientific Publishing Co Pte Ltd
  • ISBN-13: 9789812708755
Teised raamatud teemal:
World Scientific e-raamatudRohkem infot World Scientific e-raamatute kohta
Raamatu kodulehekülg: http://www.worldscientific.com/worldscibooks/10.1142/6481#t=toc
The emerging technology of very inexpensive inertial sensors is available for navigation as never before. The book lays the analytical foundation for understanding and implementing the navigation equations. It starts by demystifying the central theme of the frame rotation using such algorithms as the quaternions, the rotation vector and the Euler angles. After developing navigation equations, the book introduces the computational issues and discusses the physical aspects that are tied to implementing these equations. The book then explains alignment techniques.Introduction to Modern Navigation Systems offers an efficient algorithm for polar navigation. It also shows how to enhance the performance of the inertial system when aided by the Global Positioning System. It is an appropriate textbook for senior undergraduate and graduate students in aeronautical and electrical engineering. It could also be used as a reference book for practitioners in the field.
Preface vii
Introduction 1(6)
Vectors and Matrices
7(10)
Introduction
7(2)
Vector Inner Product
9(1)
Vector Cross Products and Skew Symmetric Matrix Algebra
10(7)
Coordinate Transformation between Orthonormal Frames
17(18)
Introduction
17(1)
Direction Cosine Matrices
18(2)
The Direction Cosine Matrix is a Unitary Matrix
20(1)
The Direction Cosine Matrix is a Transformation Matrix
21(3)
DCM Fixed Axis
24(2)
The Rotation Matrix
26(3)
Inner and Outer Transformation Matrices
29(3)
The Quaternion
32(3)
Forms of the Transformation Matrix
35(23)
Introduction
35(1)
Simple Frame Rotations
36(1)
Euler Angles
37(1)
Rotation Vector
38(1)
Quaternion
39(4)
Simple Quaternions
43(2)
Conversion between Forms
45(2)
Conversion between DCM and Euler
45(1)
Conversion between DCM and Quaternion
45(2)
Conversion between Euler Angles and Quaternion
47(1)
Dynamics of the Transformation Matrix
47(11)
DCM Differential Equation
48(2)
Quaternion Differential Equation
50(2)
Rotation Vector Differential Equation
52(3)
Euler Angles Differential Equation
55(3)
Earth and Navigation
58(17)
Introduction
58(1)
Earth, Geoid and Ellipsoid
59(4)
Radii of Curvature
63(2)
Earth, Inertial and Navigation Frames
65(2)
Earth Rate
67(1)
The Craft Rate ωnen
67(3)
Solution of the DCM Cne
70(1)
Gravitational and Gravity Fields
70(5)
The Inertial Navigation System Equations
75(11)
Introduction
75(1)
Body Frame of Reference
76(1)
Inertial Sensors
77(1)
The Accelerometer
77(1)
The Rate Gyro
78(1)
The Attitude Equation
78(2)
The Navigation Equation
80(3)
Navigation Equations Computational Flow Diagram
83(1)
The Navigation Equation in Earth Frame
84(2)
Implementation
86(18)
Introduction
86(1)
The Rotation Vector Differential Equation
87(5)
The Attitude Equation
92(3)
The Craft Velocity Equation
95(4)
The Craft Position Equation
99(2)
The Vertical Channel
101(3)
Air Data Computer
104(17)
Introduction
104(1)
US Standard Atmosphere 1976
105(2)
Pressure Altitude
107(4)
Vertical Channel Parameter Estimation Using Inertial and Air Data
111(5)
Density Altitude
116(1)
Altitude (Descend/Climb) Rate
117(1)
Air Speed
117(2)
Indicated Air Speed (IAS)
119(2)
Polar Navigation
121(15)
Introduction
121(2)
The Wander Azimuth Navigation
123(3)
Prospective of the Wander Azimuth Approach
126(2)
Polar Circle Navigation Algorithm
128(4)
Alternative Polar Circle Navigation Frame
132(4)
Alignment
136(16)
Introduction
136(1)
IMU Alignment
137(7)
Alternative Algorithm for Cbn
144(5)
Estimation of the Accelerometer and Gyro Biases
149(1)
Effects of Biases on Estimate of Cbn
150(2)
Attitude and Heading Reference System
152(15)
Introduction
152(1)
Attitude Initialization
152(3)
Heading Initialization
155(4)
Gyro Drift Compensation
159(1)
G Slaving
160(3)
X-Gyro Bias
160(2)
Y-Gyro Bias
162(1)
Z-Gyro Bias
163(1)
Alternative Approach for Gyro Drift Compensation
163(2)
Maneuver Detector
165(2)
Rate Gyro Threshold Selection
165(2)
GPS Aided Inertial System
167(27)
Introduction
167(1)
Navigation Frame Error Equation
168(12)
Craft Rate Error δωnen
169(1)
Earth Rate Error δωnie
170(1)
Position Errors
171(2)
Attitude Error
173(3)
Gravity Error
176(1)
Velocity Error
177(2)
Navigation Frame Error State Equation
179(1)
Error Block Diagram
179(1)
Earth Frame Error Equations
180(3)
Attitude Error
181(1)
Velocity Error
182(1)
Position Error
183(1)
Earth Frame Error State Equation
183(1)
Inertial Sensors Error Models
183(4)
The Global Positioning System
187(4)
Mechanization of the INS/GPS Equations
191(3)
Appendix A. The Vector Dot and Cross Products 194(3)
Appendix B. Introduction to Quaternion Algebra 197(5)
Appendix C. Simulink® Models 202(4)
Appendix D. Ellipse Geometry 206(7)
Appendix E. Vector Dynamics 213(6)
Appendix F. Derivation of Air Speed Equations 219(3)
Appendix G. DCM Error Algebra 222(4)
Appendix H. Kalman Filtering 226(11)
Index 237


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