سیستم های ناوبری اینرسی با کاربردهای ژئودتیک ۲۰۱۲
Inertial Navigation Systems with Geodetic Applications 2012

1 Coordinate Frames and Transformations

1.1 Introduction

1.2 Coordinate Frames

1.3 Transformations

1.4 Differential Equation of the Transformation

1.5 Specific Coordinate Transformations

1.6 Fourier Transforms

2 Ordinary Differential Equations

2.1 Introduction

2.2 Linear Differential Equations

2.3 General Solution of Linear Differential Equations

2.4 Numerical Methods

3 Inertial Measurement Units

3.1 Introduction

3.2 Gyroscopes

3.3 Accelerometer

4 Inertial Navigation System

4.1 Introduction

4.2 Mechanizations

4.3 Navigation Equations

5 System Error Dynamics

5.1 Introduction

5.2 Simplified Analysis

5.3 Linearized Error Equations

5.4 Approximate Analysis

6 Stochastic Processes and Error Models

6.1 Introduction

6.2 Probability Theory

6.3 Stochastic Processes

6.4 White Noise

6.5 Stochastic Error Models

6.6 Gravity Models

6.7 Examples of IMU Error Processes

7 Linear Estimation

7.1 Introduction

7.2 Bayesian Estimation

7.3 Discrete Kalman Filter

7.4 Discrete Linear Dynamics Model

7.5 Modifications

7.6 A Simple Example

7.7 Continuous Kalman Filter

8 INS Initialization and Alignment

8.1 Introduction

8.2 Coarse Alignment

8.3 Fine Alignment and Calibration

9 The Global Positioning System (GPS)

9.1 Introduction

9.2 Global Positioning System

9.3 GPS Observables

9.4 GPS Errors

9.5 Combinations of Observations

9.6 Kinematic Positioning

10 Geodetic Application

10.1 Introduction

10.2 Inertial Survey System

10.3 GPS/INS Integration

10.4 Moving-Base Gravimetry

58. References

59. Index