[B]Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems

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1、PrinciplesofGNSS,Inertial,andMultisensorIntegratedNavigationSystemspagei09-27-0712:15:40ForalistingofrecenttitlesintheArtechHouseGNSSTechnologyandApplicationsSeries,turntothebackofthisbook.pageii09-27-0712:15:40PrinciplesofGNSS,Inertial,andMultisensorIntegrated

2、NavigationSystemsPaulD.Grovespageiii09-27-0712:15:40LibraryofCongressCataloging-in-PublicationDataAcatalogrecordforthisbookisavailablefromtheU.S.LibraryofCongress.BritishLibraryCataloguinginPublicationDataAcataloguerecordforthisbookisavailablefromtheBritishLibr

3、ary.ISBN-13:978-1-58053-255-6Coverdesignby2008PaulD.GrovesAllrightsreserved.Allrightsreserved.PrintedandboundintheUnitedStatesofAmerica.Nopartofthisbookmaybereproducedorutilizedinanyformorbyanymeans,electronicormechanical,includingphotocopying,recording,orbyan

4、yinformationstorageandretrievalsystem,withoutpermissioninwritingfromthepublisher.Alltermsmentionedinthisbookthatareknowntobetrademarksorservicemarkshavebeenappropriatelycapitalized.ArtechHousecannotattesttotheaccuracyofthisinformation.Useofaterminthisbookshould

5、notberegardedasaffectingthevalidityofanytrademarkorservicemark.10987654321pageiv09-27-0712:15:40ContentsPrefacexvPARTIIntroduction1CHAPTER1Introduction31.1WhatIsNavigation?31.1.1PositionFixing41.1.2DeadReckoning61.2InertialNavigation71.3RadioandSatelliteNavigat

6、ion81.3.1TerrestrialRadioNavigation91.3.2SatelliteNavigation101.4FeatureMatching121.5TheCompleteNavigationSystem13References14PARTIINavigationMathematics15CHAPTER2CoordinateFrames,Kinematics,andtheEarth172.1CoordinateFrames172.1.1Earth-CenteredInertialFrame192.

7、1.2Earth-CenteredEarth-FixedFrame202.1.3LocalNavigationFrame202.1.4BodyFrame212.1.5OtherFrames222.2Kinematics232.2.1EulerAttitude242.2.2CoordinateTransformationMatrix262.2.3QuaternionAttitude292.2.4RotationVector302.2.5AngularRate30vpagev09-27-0712:16:10viConte

8、nts2.2.6CartesianPosition312.2.7Velocity332.2.8Acceleration342.3EarthSurfaceandGravityModels352.3.1TheEllipsoidModeloftheEarth’sSurface362.3.2CurvilinearPosition382.3.3TheGe