For GPS - INS fusion how to find the rotation matrix from body to navigation frame and how the coriolisis and gravity will effect the navigation purturbation equations?
This is my book chapter for INS integration without GPS, please check it. You may find the rotation matrix from body to navigation frame and how the coriolisis and gravity will effect the navigation purturbation equations.
This is same for GPS.
Chapter Modeling & Simulation of Autonomous Underwater Vehicle Dynamics
For any sensor fusion problem you should follow the rules of Kalman filtering.
(1) Identify your state coordinate system including propagation and and error covariance.
(2)Identify all measurement coordinate systems including error covariance.
(3)Find the H-matrix, the Jacobian of the measurement coordinate system in respect to the state coordinate system.
(4)Apply Kalman filtering.
Refer to the book from Arthur Gelb, Applied optimal estimation!
Dear Varsha:
As Nabil answered, Farrell's Aided Navigation is a good book. Other good books are:
Biezad, D. J., Integrated Navigation and Guidance Systems, AIAA Education Series, 1999
Rogers, R. M., Applied Math in Integrated Navigation Systems, 3rd ed, AIAA Education Series, 2007
Grewal. Weill and Andrews, GPS, Inertial Navigation, and Integration, 3rd ed,
John Wiley 2013
Farrell, James L., GNSS Aided Navigation and Tracking, American Literary Press 2007
Farrell and Barth, The GPS and Inertial Navigation, 1999
For further correspondence with me, you may write to me at IIT Indore,
Also, you may see Sreeja, Professor, in your college, in Electrical Engineering.
I hope all this helps.
Hari Hablani
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