CONTENTS (Continued)

Page

8.3.5

Embedded GPS.................................................................................................8 6

8.4

GPS and Transit/Omega/Loran C....................................................................................8 6

CHAPTER 9:  GPS AND KALMAN FILTERING...........................................................................9 1

9.1

Introduction .....................................................................................................................9 1

9.2

Kalman Filter Principle.....................................................................................................9 1

9.2.1

Kalman Filter Model..........................................................................................9 2

9.2.1.1

The System Dynamics Process..........................................................9 2

9.2.1.2

The Measurement Process ................................................................9 2

9.2.2

Kalman Filter Algorithm....................................................................................9 3

9.2.2.1

Propagation.......................................................................................9 3

9.2.2.2

Update ..............................................................................................9 4

9.2.2.3

Initial Conditions...............................................................................9 6

9.3

Kalman Filtering for Unaided GPS ..................................................................................9 6

9.3.1

The GPS Navigation Process ............................................................................9 6

9.3.2

The GPS Navigation Equation..........................................................................9 7

9.3.3

The GPS Kalman Filter Model..........................................................................9 8

9.3.4

GPS Augmented Kalman Filter.......................................................................9 10

9.3.5

GPS Kalman Filter Tuning ..............................................................................9 10

9.4

Kalman Filtering for Aided/Integrated GPS...................................................................9 11

9.4.1

The Integrated Navigation Solution ................................................................9 11

9.4.2

Kalman Filtering and GPS/INS .......................................................................9 11

9.4.2.1

System Architecture........................................................................9 11

9.4.2.2

The INS Navigation Process...........................................................9 14

9.4.2.3

The INS Kalman Filter States .........................................................9 16

9.4.3

Kalman Filtering and GPS/Precise Clock ........................................................9 16

9.4.4

Kalman Filtering and GPS/Barometric Altimeter ............................................9 16

9.4.5

Kalman Filtering and GPS/AHRS ...................................................................9 17

CHAPTER 10:  DIFFERENTIAL GPS............................................................................................10 1

10.1 Introduction ...................................................................................................................10 1

10.2 DGPS Concept ..............................................................................................................10 2

10.3 DGPS Implementation Types ........................................................................................10 3

10.3.1

Ranging Code Differential...............................................................................10 3

10.3.2

Carrier Phase Differential................................................................................10 4

10.3.3

DGPS Data Link Implementations..................................................................10 5

10.3.4

Local Area and Wide Area Systems................................................................10 6

10.4 Solution Error Sources ..................................................................................................10 6

10.5 System Block Diagram ..................................................................................................10 9

10.6 DGPS Integrity............................................................................................................10 10

CHAPTER 11:  SPECIAL APPLICATIONS FOR NAVSTAR GPS .............................................11 1

11.1 Introduction ...................................................................................................................11 1

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