Product Description

The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:
* Representing the problem in a mathematical model
* Analyzing the performance of the GPS sensor as a function of model parameters
* Implementing the mechanization equations in numerically stable algorithms
* Assessing computation requirements
* Testing the validity of results
* Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.

An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.

Product Details

• Amazon Sales Rank: #728403 in Books
• Published on: 2000-12-15
• Original language: English
• Binding: Hardcover
• 416 pages

Review
"A text for an introductory course in the technology at the senior or first-level graduate level that practicing engineers and scientists could also use for self-study." (SciTech Book News, Vol. 25, No. 4, December 2001)

From the Back Cover
The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for:

• Representing the problem in a mathematical model
• Analyzing the performance of the GPS sensor as a function of model parameters
• Implementing the mechanization equations in numerically stable algorithms
• Assessing computation requirements
• Testing the validity of results
• Monitoring GPS, INS, and Kalman filter performance in operation

In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.

About the Author
MOHINDER S. GREWAL, PhD, PE, is Professor of Electrical Engineering in the College of Engineering and Computer Science at California State University, Fullerton.

LAWRENCE R. WEILL, PhD, is Professor of Applied Mathematics in the College of Mathematics and Natural Sciences at California State University, Fullerton.

ANGUS P. ANDREWS, PhD, is Senior Scientist at the Rockwell Science Center in Thousand Oaks, California.

Customer 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.

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.

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.