Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.

Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include:

GNSS signal integrity with SBAS
Mitigation of multipath, including results
Ionospheric delay estimation with Kalman filters
New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data
New algorithms for GEO with L1 /L5 frequencies and clock steering
Implementation of mechanization equations in numerically stable algorithms

To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

CUSTOMER REVIEWS (Average Customer Rating: 4.0 based on 4 reviews)

Best source of information on GPS

One of the students in my lecture came up to me and said he had studied this book all summer to learn about GPS. He found it to be very helpful to him and he said it was the best source of information on GPS he had come across.
December 03, 2002

GPS World Magazine reviewer recommends this book

Here are some quotes from a review of this book in GPS World, July 2001, pp 46-47, by Dr. John Angus, a consultant and researcher in the area of GPS-aided navigation systems, AND professor at Claremont Graduate University, Claremont, CA. Dr. Angus' credentials qualify him to review this book.

"Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them "glued" together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided."

"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."

"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."

"...recommended for personal and professional libraries."

This is an application-oriented book, which as such, does not include detailed mathematical derivations. It does provide Kalman filter algorithms (on floppy and in text), but if one needs the theory of Kalman filtering behind these, one needs to use a Kalman filtering text, such as Kalman Filtering Theory & Practice Using MATLAB (Second Edition), Wiley 2001, by Grewal and Andrews. The latter book gives all of the methods in square root filtering algorithms and derivations and more. If the "Asian Reviewer" is most interested in Kalman filtering, he/she would be better advised to buy a book on Kalman filtering.
October 12, 2001

GPS World Magazine reviewer recommends this book

"The writing...tends to be concise and the mathematics is kept to the minimum necessary to expose the theory and methods of filtering, GPS, and INS."

"...effectively addresses most of the basic engineering and performance issues relating to GPS/INS."

"...recommended for personal and professional libraries."

Almost completely useless book ...

Of course the experience of the authors is great but none of it you can use either in your study or research. It is impossible to learn about Kalman filtering from this book as well as to improve your knowledge in this area. Book is intended for professionals in this area but professionals will not need it. Many intersting facts but no detailed information. For example one can know that the square root filtering method came from James Potter but there is nothing more about this method from this book. Otherwise you have to study sources of the software (included). Book is written as advertizing of author's skills and nothing else. Too much about nothing ...
October 10, 2001

SIMILAR PRODUCTS

Kalman Filtering: Theory and Practice Using MATLAB
by Mohinder S. Grewal, Angus P. Andrews

Applied Mathematics in Integrated Navigation Systems, Third Edition (Aiaa Education Series)
by Robert M. Rogers

Understanding GPS: Principles and Applications, Second Edition
by Elliott D. Kaplan, Christopher Hegarty

The Global Positioning System & Inertial Navigation
by Jay A. Farrell

Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches
by Dan Simon