A description of the inertial technology used for guidance, control, and navigation, discussing in detail the principles, operation, and design of sensors, gyroscopes, and accelerometers, as well as the advantages and disadvantages of particular systems. An engineer with long practical experience in the field, the author elucidates such recent developments as fibre-optic gyroscopes, solid-state accelerometers, and the global positioning system. This will be of interest to researchers and practising engineers involved in systems engineering, aeronautics, space research, and navigation on both land and sea.

Inertial navigation is widely used for the guidance of aircraft, missiles ships and land vehicles, as well as in a number of novel applications such as surveying underground pipelines in drilling operations. This book discusses the physical principles of inertial navigation, the associated growth of errors and their compensation. It draws current technological developments, provides an indication of potential future trends and covers a broad range of applications. New chapters on MEMS (microelectromechanical systems) technology and inertial system applications are included.

The emerging technology of very inexpensive inertial sensors is available for navigation as never before. The book lays the analytical foundation for understanding and implementing the navigation equations. It starts by demystifying the central theme of the frame rotation using such algorithms as the quaternions, the rotation vector and the Euler angles. After developing navigation equations, the book introduces the computational issues and discusses the physical aspects that are tied to implementing these equations. The book then explains alignment techniques.Introduction to Modern Navigation Systems offers an efficient algorithm for polar navigation. It also shows how to enhance the performance of the inertial system when aided by the Global Positioning System. It is an appropriate textbook for senior undergraduate and graduate students in aeronautical and electrical engineering. It could also be used as a reference book for practitioners in the field.

An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering 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.

Navigation fundamentally provides information on position, velocity and direction which are needed for travel in ocean, land, air and in space. The myriad forms of navigation developed so far are collectively called modern navigation. This recent text discusses new promising developments that will assist the students when they enter their future professional career. It is the outcome of authors’ wide experience in teaching, research and development in the field of navigation and inertial sensors. The content of the book is designed to impart adequate knowledge to the students in the area of navigation and related sensors. The text discusses inertial navigation, inertial sensors, MEMS based inertial sensors, satellite navigation, integrated inertial navigation, signal processing of inertial sensors and their applications. The chapters introduce all the topics in an easy to understand manner so that an appreciative understanding of the text matter can be made without resorting to equations and mathematics. Considerable references have been provided to enable both the students and the professors to dwell and learn more on the topics of their interest. This textbook is primarily intended to meet the academic needs of undergraduate and postgraduate students of aerospace engineering and avionics.

Out-of-print for years, this highly sought-after volume, remains the most popular reference on inertial navigation systems analysis. Finally, this classic book is back in print and readily available only from Artech House. Authored by a pioneer in the field, this authoritative resource focuses on terrestrial navigation, but is also useful for air and sea applications. Packed with valuable, time-saving equations and models, the book helps engineers design optimal navigation systems by comparing the performance of the various types of system mechanizations. Although applications and technology have changed over the years, this book remains the best source for fundamental inertial navigation system knowledge, from notational conventions, reference frames, and geometry of the earth, to unified error analysis, self-alignment techniques, and the development of a system error model. This well-illustrated, timeless reference belongs on the shelf of every practicing engineer working in this area.

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

A guide to the theory and recent development in the medical use of antenna technology Antenna and Sensor Technologies in Modern Medical Applications offers a comprehensive review of the theoretical background, design, and the latest developments in the application of antenna technology. Written by two experts in the field, the book presents the most recent research in the burgeoning field of wireless medical telemetry and sensing that covers both wearable and implantable antenna and sensor technologies. The authors review the integrated devices that include various types of sensors wired within a wearable garment that can be paired with external devices. The text covers important developments in sensor-integrated clothing that are synonymous with athletic apparel with built-in electronics. Information on implantable devices is also covered. The book explores technologies that utilize both inductive coupling and far field propagation. These include minimally invasive microwave ablation antennas, wireless targeted drug delivery, and much more. This important book: Covers recent developments in wireless medical telemetry Reviews the theory and design of in vitro/in vivo testing Explores emerging technologies in 2D and 3D printing of antenna/sensor fabrication Includes a chapter with an annotated list of the most comprehensive and important references in the field Written for students of engineering and antenna and sensor engineers, Antenna and Sensor Technologies in Modern Medical Applications is an essential guide to understanding human body interaction with antennas and sensors.

Microelectromechanical system (MEMS) inertial sensors have become ubiquitous in modern society. Built into mobile telephones, gaming consoles, virtual reality headsets, we use such sensors on a daily basis. They also have applications in medical therapy devices, motion-capture filming, traffic monitoring systems, and drones. While providing accurate measurements over short time scales, this diminishes over longer periods. To date, this problem has been resolved by combining them with additional sensors and models. This adds both expense and size to the devices. This tutorial focuses on the signal processing aspects of position and orientation estimation using inertial sensors. It discusses different modelling choices and a selected number of important algorithms that engineers can use to select the best options for their designs. The algorithms include optimization-based smoothing and filtering as well as computationally cheaper extended Kalman filter and complementary filter implementations. Engineers, researchers, and students deploying MEMS inertial sensors will find that this tutorial is an essential monograph on how to optimize their designs.

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