published 2020
© 2020 John Wiley & Sons, Inc.
Edition History
Wiley‐Interscience; 1st edition 2006
Wiley‐Interscience; 2nd edition 2011
Wiley‐Interscience; 3rd edition 2013
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The right of Mohinder S. Grewal, Angus P. Andrews, and Chris G. Bartone to be identified as the authors of this work has been asserted in accordance with law.
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Library of Congress Cataloging‐in‐Publication Data
Names: Grewal, Mohinder S., author. | Andrews, Angus P., author. | Bartone,
Chris G., author. | John Wiley & Sons.
Title: Global navigation satellite systems, inertial navigation, and
integration / Mohinder S. Grewal, California State University at
Fullerton, Angus P. Andrews, Chris G. Bartone.
Description: Fourth Edition. | Hoboken : Wiley, 2020. | Third edition
published 2013. | Includes bibliographical references and index.
Identifiers: LCCN 2019038560 (print) | LCCN 2019038561 (ebook) | ISBN
9781119547839 (Hardback) | ISBN 9781119547846 (Adobe PDF) | ISBN
9781119547815 (ePub)
Subjects: LCSH: Global Positioning System. | Inertial navigation. | Kalman
filtering.
Classification: LCC G109.5 .G74 2020 (print) | LCC G109.5 (ebook) | DDC
910.285‐‐dc23
LC record available at https://lccn.loc.gov/2019038560
LC ebook record available at https://lccn.loc.gov/2019038561
Cover design by Wiley
Cover image: © Busakorn Pongparnit/Getty Images
M.S.G. dedicates this book to the memory of his parents, Livlin Kaur and Sardar Sahib Sardar Karam Singh Grewal.
A.P.A. dedicates his contributions to his wife Jeri, without whom it never would have happened.
C.G.B. dedicates this work to his wife Shirley and two sons, Christopher and Stephen, for their never‐ending support over the years.
Preface to the Fourth Edition
This book is intended for people who need a working knowledge of Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and the Kalman filtering models and methods used in their integration. The book is designed to provide a useable, working familiarity with both the theoretical and practical aspects of these subjects. For that purpose we have included “real‐world” problems from practice as illustrative examples. We also cover the more practical aspects of implementation: how to represent problems in a mathematical model, analyze performance as a function of model parameters, implement the mechanization equations in numerically stable algorithms, assess its computational requirements, test the validity of results, and monitor performance in operation with sensor data from GPS and INS. These important attributes, often overlooked in theoretical treatments, are essential for effective application of theory to real‐world problems.
The companion Wiley website (www.wiley.com/go/grewal/gnss) contains MATLAB® m‐files to demonstrate the workings of the navigation solutions involved. It includes Kalman filter algorithms with GNSS and INS data sets, so that the reader can better discover how the Kalman filter works by observing it in action with GNSS and INS. The implementation of GNSS, INS, and Kalman filtering on computers also illuminates some of the practical considerations of finite‐word‐length arithmetic and the need for alternative algorithms to preserve the accuracy of the results. If the student wishes to apply what she or he learns, then it is essential that she or he experience its workings and failings – and learn to recognize the difference.
The book is organized for use as a text for an introductory course in GNSS technology at the senior level or as a first‐year graduate level course in GNSS, INS, and Kalman filtering theory and applications. It could also be used for self‐instruction or review by practicing engineers and scientists in these fields.
This
