Fundamentals of GNSS-Aided Inertial Navigation精品.pdfVIP

0 1 Fundamentals of GNSS-Aided Inertial Navigation Ahmed Mohamed and Apostolos Mamatas University of Florida USA 1. Introduction GNSS-aided inertial navigation is a core technology in aerospace applications from military to civilian. It is the product of a confluence of disciplines, from those in engineering to the geodetic sciences and it requires a familiarity with numerous concepts within each field in order for its application to be understood and used effectively. Aided inertial navigation systems require the use of kinematic, dynamic and stochastic modeling, combined with optimal estimation techniques to ascertain a vehicles navigation state (position, velocity and attitude). Moreover, these models are employed within different frames of reference, depending on the application. The goal of this chapter is to familiarize the reader with the relevant fundamental concepts. 2. Background 2.1 Modeling motion The goal of a navigation system is to determine the state of the vehicles trajectory in space relevant to guidance and control. These are namely its position, velocity and attitude at any time. In inertial navigation, a vehicles path is modeled kinematically rather than dynamically, as the full relationship of forces acting on the body to its motion is quite complex. The kinematic model incorporates accelerations and turn rates from an inertial measurement unit (IMU) and accounts for effects on the measurements of the reference frame in which the model is formalized. The kinematic model relies solely on