January 2007
Intermediate to advanced
551 pages
14h 48m
English
book
Global Positioning Systems, Inertial Navigation, and Integration, Second Edition
by Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews
Content preview from Global Positioning Systems, Inertial Navigation, and Integration, Second Edition
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.
7
GNSS AND GEO SIGNAL INTEGRITY
7.1 RECEIVER AUTONOMOUS INTEGRITY MONITORING (RAIM)
Navigation system integrity refers to the ability of the system to provide timely warnings to users when the system should not be used for navigation. The basic GPS (as described in Chapter 3) provides integrity information to the user via navigation message, but this may not be timely enough for some applications, such as civil aviation. Therefore, additional methods of providing integrity are necessary.
Two different methods will be discussed—GPS-only receiver (TSO-C129-compliant) autonomous integrity monitoring (RAIM) and use of ground monitoring stations to monitor the health of the satellites, as is done via SBAS and GBAS (TSO-C145-compliant receivers). Three RAIM methods have been proposed in recent papers on GPS integrity [150, 151, 152, 153]:
- Range comparison method
- Least-squares residual method
- Parity method
We will briefly discuss the RAIM methods, then discuss SBAS and GBAS integrity design.
7.1.1 Range Comparison Method of Lee [121]
For the GNSS navigation problem described in Chapter 2, Section 2.5, there are four unknowns (three position coordinates [x, y, z] and clock bias Cb) and more than four satellites in view (e.g., six satellites). One can solve the position and time equations for the first four satellites, ignoring noise, and find the user position. This solution can then be used to predict the remaining two pseudorange measurements, and the predicted values could be compared ...
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
and much more.
Read now
Unlock full access
More than 5,000 organizations count on O’Reilly
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.Amir M.
I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.