Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems (GNSS Technology and Applications)
This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching. It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies.
The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.
DVD Included! Features eleven appendices, interactive worked examples, basic GNSS and INS Matlab® simulation software, and problems and exercises to help you master the material.
Contents: Preface. Introduction. Co-ordinate Frames, Kinematics, And The Earth. Kalman Filter-Based Estimation. Inertial Sensors. Inertial Navigation. Dead Reckoning, Attitude, and Height Measurement. Principles of Radio Positioning. GNSS: Fundamentals, Signals, and Satellites. GNSS: User Equipment Processing and Errors. GNSS: Advanced Techniques. Long- and Medium-Range Radio Navigation. Short-Range Positioning. Environmental Feature Matching. INS/GNSS Integration. INS Alignment, Zero Updates, and Motion Constraints. Multisensor Integrated Navigation. Fault Detection, Integrity Monitoring, and Testing. Applications and Future Trends. List of Symbols. List of Acronyms and Abbreviations. About the Author. Index.
Why Read This Book
You should read this book if you need a single, authoritative reference on how GNSS, inertial systems (IMUs) and other sensors are modeled, fused, and implemented in real systems — it bridges theory and practical system issues. You will get both the mathematical foundations (estimation, Kalman filtering, strapdown algorithms) and coverage of real-world problems (multipath, sensor errors, map matching, pedestrian and acoustic positioning).
Who Will Benefit
Embedded/firmware engineers, robotics and navigation system designers, and advanced students who implement or integrate GNSS/INS and multisensor fusion in real hardware and want rigorous, practical guidance.
Level: Advanced — Prerequisites: Undergraduate calculus, linear algebra and probability/statistics; basic signal processing and control concepts; familiarity with programming (MATLAB/Python/C) will help for implementing algorithms.
Key Takeaways
- Explain GNSS fundamentals including signal structure, receiver errors, and positioning principles.
- Model inertial sensors and implement strapdown inertial navigation algorithms.
- Design and apply Kalman filters and state-estimation techniques for GNSS/INS and multisensor integration (loosely/tightly coupled).
- Diagnose and mitigate real-world error sources such as biases, drifts, multipath and outliers.
- Apply terrestrial radio positioning, dead reckoning, map matching and image-based methods to augment GNSS.
- Assess system-level performance and design choices for pedestrian, vehicular and marine navigation applications.
Topics Covered
- Introduction to Navigation Systems and Survey of Positioning Techniques
- Fundamentals of Satellite Navigation (GNSS) — Signals, Orbits, Errors
- GNSS Receiver Processing and Positioning Algorithms
- Principles of Inertial Navigation and Strapdown Algorithms
- Inertial Sensor Error Modelling and Calibration
- Estimation Theory and Kalman Filtering for Navigation
- INS/GNSS Integration Architectures: Loosely, Tightly and Deeply Coupled
- Multisensor Integration: Dead Reckoning, Map Matching and Pedestrian Navigation
- Terrestrial Radio Positioning and Acoustic Systems
- Image-based and Feature-matching Navigation Techniques
- Attitude Determination and Sensor Alignment
- Practical Implementation Issues, Performance Assessment and Applications
Languages, Platforms & Tools
How It Compares
More integration-focused than Kaplan & Hegarty's GNSS texts (which emphasize satellite systems), and more modern and fusion-oriented than Titterton & Weston's classic on inertial systems; Groves uniquely combines GNSS, INS and multisensor topics in one applied reference.
