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Chapter 3, Navigation

By Scott Gleason and Demoz Gebre-Egziabher

This chapter explains how to calculate the position, velocity, and time of a receiver. This will include a presentation of the least-squares position and velocity solution and an introduction to the extended Kalman filter (expanded on in Chapter 6) navigation methods. Chapter 3 also assesses the issue of measurement geometry and details the error sources with several examples.

A GNSS simulator has been provided on the DVD that will allow the user to simulate unique scenarios on a global scale, providing reasonably realistic raw measurements and navigation solution calculations (repeat- able using MATLAB/Octave and Python scripts). This program includes a GNSS constellation and receiver simulator that outputs a range of measurements under user-defined environments, which can then be used in conjunction with postpro- cessing scripts to duplicate the results presented in the text. This simulation can also be configured to provide outputs in a format compatible with Google Earth and to use time-tagged position inputs from FlightGear aircraft simulations.



GNSS Simulator Development Tools (Linux, MacOS, Windows)
GNSS Simulator NSIS Installer (Windows)
(*see Additional Info for important fix)
Octave/MATLAB Support Scripts
Python Support Scripts
GNSS Simulation Examples