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ABSTRACT
Contents
ABBREVIATIONS
1 Introduction
SINS/GPS Navigations
Development Status of SINS
Overview on GNSS
MIMU-SINS/GPS Integration
SINS/CNS Navigations
Previous Research and Limitations
Research Contents and Objectives
Chapter Summary
2 Principles of Strapdown Inertial Navigating Syst
Coordinate Frames
All coordinate frames employed in this dissertatio
Earth Centered Inertial Frame
Earth Centred Earth Fixed Frame
Navigation Frame
Body Frame
Local Horizon Line of Sight
Earth Model
Gravity and Gravitation
Radii of Curvature
Coordinate Transformations
Inertial to Earth Frame
Earth and Navigation Frames
Inertial to Navigation Frame
Navigation and Body Frames
Navigation Frame to LOS
Rotation Vector and Quaternions
SINS Mechanization Equations
SINS Updating Algorithms
Attitude Updating Model
Velocity Updating Algorithm
Position Update Algorithm
SINS Error Dynamics
Attitude Error Model
Velocity Error Model
Position Error Model
Gyro Error Model
The main error sources in the measurements of gyro
Accelerometer Error Model
SINS Error Model in State Space Form
Chapter Summary
3 Fundamentals of GPS, CNS and Kalman Filtering
GPS Observables
The essential GPS observables are time, pseudorang
GPS Time
GPS time is the time scale to which the GPS signal
Pseudorange Measurement
Carrie Phase Measurements
Attitude Estimation from GPS Measurements
Fundamentals of CNS
J2000.0 Coordinate System
Time Reference
Star Coordinates Transformation
3.2.3.2 Standards of Fundamental Astronomy
Kalman Filtering
Least Square Method
Kalman Filter Algorithm
Kalman Filter Performance
Adaptive Kalman Filtering
Chapter Summary
4 Integration of MEMS-SINS/GPS System
GPS Clock Error Model
Lever Arm Effect
Where is the state vec
Loosely Coupled Model
Process Model
No GPS states are included in the loosely integrat
Measurement Model
In loosely coupled SINS/GPS architecture, the meas
Tightly Coupled Integration
Process Model
Measurement Model
Adaptive Kalman Filtering for SINS/GPS
Field Test and Results
Chapter Summary
5 SINS/CNS Integration Algorithms and Simulations
Error Frames
True Frame
Computer Frame
Platform Frame
SINS and NFOV Star Tracker Integration
SINS and WFOV Star Sensor Integration
Kalman Filtering for SINS/CNS
Simulation and Results
Trajectory Simulation
Star Catalog Development
SINS/CNS Initial Alignment at Static Base
Airborne SINS/CNS Simulations
Results Discussion
Chapter Summary
CONCLUSIONS
Conclusions
REFERENCES
PUBLICATIONS
ACKNOWLEDGEMENTS
