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gps  gps aided inertial navigation  kalman filter  navitation  stochastic process  

Aided Navigation: GPS with High Rate Sensors

Aided Navigation: GPS with High Rate Sensors

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Author: Jay A. Farrell
Publisher: McGraw-Hill Professional

List Price: $115.00
Buy New: $77.84
You Save: $37.16 (32%)



New (28) Used (7) from $68.31

Rating: 4.5 out of 5 stars 4 reviews
Sales Rank: 686859

Media: Hardcover
Edition: 1
Pages: 530
Number Of Items: 1
Shipping Weight (lbs): 1.9
Dimensions (in): 9.1 x 6 x 1.3

ISBN: 0071493298
Dewey Decimal Number: 910.285
EAN: 9780071493291
ASIN: 0071493298

Publication Date: March 25, 2008
Availability: Usually ships in 1-2 business days
Condition: All orders ship same business day via standard shipping (USPS Media Mail) if received by 1 PM CST.

Also Available In:

  • Kindle Edition - Aided Navigation : GPS with High Rate Sensors

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Editorial Reviews:

Product Description

Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications

Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design.

Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features:

  • End-of-chapter exercises throughout Part I
  • In-depth case studies of aided navigation systems
  • Numerous Matlab-based examples
  • Appendices define notation, review linear algebra, and discuss GPS receiver interfacing
  • Source code and sensor data to support examples is available through the publisher-supported website

Inside this Complete Guide to Designing Aided Navigation Systems

• Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS



Customer Reviews:

5 out of 5 stars Very helpful especially for navigation engineer   May 31, 2008
Yu Lu (SF, CA,USA)
1 out of 1 found this review helpful

I am an electrical engineer working for several navigation project. I am always struggling for long time to seek a good book on this application field. When I read several chapters of this book, I know that I found the right book. This book talks from some fundamental theory to high level application. Also it gives a lot of practical examples dedicated to navigation project. I am very happy to have this book and will use it as a guide in navigation area.


5 out of 5 stars Farrell is the Sherpa of Aided Navigation   May 6, 2008
J. Covalesky (Santa Clara, CA)
2 out of 2 found this review helpful

After struggling through countless articles with a myriad of approaches to fusing GPS receiver data with vehicle sensors (wheel encoders, accelerometers, gyroscopes, etc.), I started to notice how often references to work by Farrell showed up in the higher quality articles. That led me to buying his latest book, Aided Navigation.

Aided Navigation lays out Farrell's way of designing positioning systems. His designs take a subsystem formed through integration of several sensors that give good short term changes in state (e.g. position changes from inertial sensors) and aid it with one or more complimentary subsystems that do better at following the state over a longer time period (e.g. GPS receiver output.) This is a fairly classical approach, but his survey of the prerequisite theory and explanation of the finer implementation details is refreshingly well-organized.

In Part I, he builds up the analytical tools needed to rigorously execute his design methodology. It includes lots of simple examples along the way. Part II is a catalog of detailed real-world designs.

I like how the whole text coheres around derivation and demonstration of a particular design methodology. You get the feeling that he's built systems that had to work in the real world and not just on paper. Although he does outline a recipe for analyzing these sorts of systems, his theoretical depth and copious reference list saves the book from being an unthinking cookbook. It has helped me decode a lot of positioning articles I've read and given me a good 'reference trajectory' for my own design journey.

If I had to keep just two positioning references on my bookshelf, this would be one and Dan Simon's _Optimal State Estimation_ would be the other (not counting my linear algebra, physics, and calculus textbooks.)



5 out of 5 stars Excellent book for self-study   May 5, 2008
joseph kostas (san diego, ca USA)
3 out of 3 found this review helpful

When attempting to learn a subject like GPS-aided navigation it becomes immediately apparent that there are few references with practical, less than trivial problems and exercises to reinforce the material. This book is an exception. It contains excellent exercises and a website with down-loadable MATLAB/SIMULINK code. The text is clear and very readable.
The appendix on Euler and quaternion kinematic rate equations is quite exceptional. This book is first-rate.



3 out of 5 stars a second edition would have been better   May 2, 2008
David Arp (Lewisville, TX USA)
1 out of 2 found this review helpful

The book isn't as easy to handle as Farrell's "The Global Positioning System & Inertial navigation". A revised edition of this latter book would have been better; there are a lot of mistakes to correct. Still the current book and its precessor are good references for aided inertial navigation.

Worthwhile Reading

Car GPS Navigation Systems - A Buyers Guide
By Nicola Carr

In 1973 the U.S. Department of Defence launched the Navstar GPS network. This consisted of 24 satellites orbiting the earth every 12 hours and five ground stations. This positioning system was made available for public use. With this capability, consumer location devices were produced to accurately determine location and other data such as current and average speed, directional heading, and elevation. These GPS devices need an unobstructed view of at least four satellites to provide a reliable 3D fix.

The GPS receiver overlays this location data onto map files stored on the unit, to give a current position on the map as well previous track. The receiver constantly recalculates position, giving real time position.

A typical GPS device contains:

  • 12-channel receiver - the quality of the receiver determines how long it takes the device to acquire a 3D fix.
  • Antenna to capture satellite signals - positioned to get a clear view of the sky.
  • CPU to process the data and overlay on maps
  • DVD Hard-drive - where maps on DVD's or available online are uploaded and stored. Some cheaper units do not upload the maps, but reference them off the DVD or CD.
  • Display Screen - mostly color with handheld units using black and white
  • Voice Interface - more advanced units
How The GPS Device Gets A Fix

The first time you start your GPS device, its data store is blank so needs a to collect satellite information to determine your position. This is known as a cold start. Some units only take 30 to 45 seconds to acquire a 3D fix during a cold start, while others can take several minutes. Subsequent position updates only take 3 to 4 seconds. If you go out of range from losing line of sight, such as passing behind a large building or through a tunnel, a good receiver will instantly recover, whereas weaker units will require more time to reacquire a 3D fix.

How Different GPS Navigation Units Differ

Location of Antenna - A factory installed in-dash unit antenna is integrated into the dashboard where it has an unobstructed view of the sky. Many portable models have a suction-cup-mounting device to position the device on the windshield. Add-on antennas are also available. Regardless of the type of unit and antenna, the important thing is to keep the antenna visible to the greatest area of sky possible. Choose a unit where this can be done AT THE SAME TIME as being able to maintain a clear view of the screen.

Screens and Display - important to check how bright these are, and if they are clearly visible from the mounted position in bright day light. Onboard navigation systems are generally color screens, and portable units are black and white to save power. Larger screens and integrate better with other vehicle electronics.

Input Buttons - most enroute buttons are on the display screen. Ensure these are easy to use when driving; that is they are big enough and colored sufficently to see without causing a driving hazard.

Map Media - Earlier models were CD-based, requiring multiple discs to cover the entire United States. Newer in-dash systems are DVD-based; only 1-2 DVD's required for an entire country of maps.

Cost - In-dash systems are usually more expensive than portable counterparts. Aftermarket in-dash models usually require professional installation and can be just as expensive as the factory models.

Upgrading - always check how easy it is to upgrade the firmware and maps on your GPS unit. Some units detach a portion to be connected to the computer via USB, whereas others are done using a DVD. Those units which can be upgraded online, are much more convenient.

Added Features of GPS Units

Apart from giving you a current position, a number of GPS navigation devices can give you:

  • A track of where you have been - the number of tracks and waypoints stored varies from unit to unit. You may also want to save on part of a track for future use.
  • A path from your current position to your destination
  • Maintain commonly used navigation paths for reuse.
  • Points of Interest - user sets the types of points of interest, such as tourist, bank ATM, petrol stations, historical, accommodation, restaurants etc.
  • Real time traffic reporting to avoid traffic delays. This can also include road works.
  • Voice recognition to receive destination instructions, and voice guidance to give driving instructions
  • Weather updates
  • Street name navigation - instead of just turn left 200m it was say 'Turn left into Stanley St'
  • Integrated Multimedia players - MP3 players, image viewers, and audio books.
  • Onboard or Portable GPS Navigation
The downside of onboard GPS Navigation units are susceptible to theft; and you cannot take them with you to use in other vehicles or when travelling abroad. Portable units, such as the Garmin StreetPilot 2720, can be used in multiple cars; being easily moved from car to car. Depending upon the power supply and portability, portable and handheld units can be taken when travelling or used on cycles, boats, private aircraft etc.

For more information on Go-Reviews.com Car Electronics Section.

Nicola Carr - Nicola is a technology strategist and publisher of Go-Reviews.com. She provides product reviews and buying guides on a wide range of technology. Nicola is also a feature writer for Electrosmart Digital Publishing and RichMediaMix demonstrating how technology is integrating into business and media.

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