Inertial Navigation Systems With Geodetic Applications

Christopher Jekeli Inertial Navigation Systems with Geodetic Applications Walter de Gruyter Berlin New York 2001 Author Dr. Christopher Jekeli Department of Civil & Environmental Engineering & Geodetic Science The Ohio State University 470 Hitchcock Hall, 2070 Neil Avenue Columbus, Ohio 43210-1275 USA @Printed on acid-free paper which falls within the guidelines of the ANSI to ensure permanence and durability. Library of Congress Cataloging-in-Publication Data Jekeli, Christopher, 1953Inertial navigation systems with geodetic applications / Christopher Jekeli. p. cm. Includes bibliographical references and index. ISBN 3110159031 1. Earth - Figure - Measurement. 2. Inertial navigation Mathematics. I. Title. QB283 ,545 2001 526’.1 -dc21 00-03 1644 Die Deutsche Bibliothek - Cataloging-in-Publication Data Jekeli, Christopher: Inertial navigation systems with geodetic applications I Christopher Jekeli. - Berlin ; New York : de Gruyter, 2001 ISBN 3-11-015903-l 0 Copyright 2000 by Walter de Gruyter GmbH & Co. KG, 10785 Berlin, Germany All rights reserved, including those of translation into foreign languages. No part of this book may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording or any information storage and retrieval system, without permission in writing from the publisher. Cover design: Rudolf Hiibler, Berlin Typesetting: ASCO Trade Typesetting Ltd., Hong Kong Printing: Werner Hildebrand, Berlin Binding: Liideritz & Bauer-GmbH, Berlin To my Mother and Father Preface It is amazing that gyros perform as well as they do. Wallace E. Vander Velde, M.I.T., 1983. The quote above is a beautiful expression and tribute to the engineering triumph in the latter half of the twentieth century of the mechanical gyroscope that is an integral part of the traditional inertial navigation system (INS). In today’s technological age of lasers and digital electronics, having also benefited inertial sensors, high performance is almost expected; yet the most accurate navigation and guidance systems still rely on the mechanical predecessors of the modern optical gyro. On the other hand, robustness, reliability, efficiency, and, above all, cost-effectiveness belong to the new generation of sensors and open the opportunity for increased utility and wider application in commercial, industrial, and scientific endeavors, Concurrent with the technological innovations came new analytical tools, specifically the Kalman filter, that is tailor-made for the analysis, calibration, and integration of the inertial navigation system. In the last two decades, the Global Positioning System (GPS) has come to dominate the wide range of positioning and navigation applications, but the new inertial sensor technology has enabled a continuing and growing utilization of these marvelous instru