![1
Introduction
The ®ve basic forms of navigation are as follows:
1. Pilotage, which essentially relies on recognizing landmarks to know where
you are. It is older than human kind.
2. Dead reckoning, which relies on knowing where you started from, plus some
form of heading information and some estimate of speed.
3. Celestial navigation, using time and the angles between local vertical and
known celestial objects (e.g., sun, moon, or stars) [115].
4. Radio navigation, which relies on radio-frequency sources with known
locations (including Global Positioning System satellites).
5. Inertial navigation, which relies on knowing your initial position, velocity, and
attitude and thereafter measuring your attitude rates and accelerations. It is the
only form of navigation that does not rely on external references.
These forms of navigation can be used in combination as well [16, 135]. The subject
of this book is a combination of the fourth and ®fth forms of navigation using
Kalman ®ltering.
Kalman ®ltering exploits a powerful synergism between the Global Positioning
System (GPS) and an inertial navigation system (INS). This synergism is possible, in
part, because the INS and GPS have very complementary error characteristics.
Short-term position errors from the INS are relatively small, but they degrade
without bound over time. GPS position errors, on the other hand, are not as good
over the short term, but they do not degrade with time. The Kalman ®lter is able to
take advantage of these characteristics to provide a common, integrated navigation
1
Global Positioning Systems, Inertial Navigation, and Integration,
Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews
Copyright # 2001 John Wiley & Sons, Inc.
Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-22-320.jpg)
![implementation with performance superior to that of either subsystem (GPS or INS).
By using statistical information about the errors in both systems, it is able to
combine a system with tens of meters position uncertainty (GPS) with another
system whose position uncertainty degrades at kilometers per hour (INS) and
achieve bounded position uncertainties in the order of centimeters [with differential
GPS (DGPS)] to meters.
A key function performed by the Kalman ®lter is the statistical combination of
GPS and INS information to track drifting parameters of the sensors in the INS. As a
result, the INS can provide enhanced inertial navigation accuracy during periods
when GPS signals may be lost, and the improved position and velocity estimates
from the INS can then be used to make GPS signal reacquisition happen much faster
when the GPS signal becomes available again.
This level of integration necessarily penetrates deeply into each of these
subsystems, in that it makes use of partial results that are not ordinarily accessible
to users. To take full advantage of the offered integration potential, we must delve
into technical details of the designs of both types of systems.
1.1 GPS AND GLONASS OVERVIEW
1.1.1 GPS
The GPS is part of a satellite-based navigation system developed by the U.S.
Department of Defense under its NAVSTAR satellite program [54, 56, 58±63, 96±
98].
1.1.1.1 GPS Orbits The fully operational GPS includes 24 or more (28 in
March 2000) active satellites approximately uniformly dispersed around six circular
orbits with four or more satellites each. The orbits are inclined at an angle of 55
relative to the equator and are separated from each other by multiples of 60
right
ascension. The orbits are nongeostationary and approximately circular, with radii of
26,560 km and orbital periods of one-half sidereal day (11:967 h). Theoretically,
three or more GPS satellites will always be visible from most points on the earth's
surface, and four or more GPS satellites can be used to determine an observer's
position anywhere on the earth's surface 24 h per day.
1.1.1.2 GPS Signals Each GPS satellite carries a cesium and=or rubidium
atomic clock to provide timing information for the signals transmitted by the
satellites. Internal clock correction is provided for each satellite clock. Each GPS
satellite transmits two spread spectrum, L-band carrier signalsÐan L1 signal with
carrier frequency fl ˆ 1575:42 MHz and an L2 signal with carrier frequency
f2 ˆ 1227:6 MHz. These two frequencies are integral multiples f1 ˆ 1540f0 and
f2 ˆ 1200f0 of a base frequency f0 ˆ 1:023 MHz. The L1 signal from each satellite
uses binary phase-shift keying (BPSK), modulated by two pseudorandom noise
(PRN) codes in phase quadrature, designated as the C=A-code and P-code. The L2
2 INTRODUCTION](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-23-320.jpg)
![signal from each satellite is BPSK modulated by only the P-code. A brief description
of the nature of these PRN codes follows, with greater detail given in Chapter 3.
Compensating for Propagation Delays This is one motivation for use of two
different carrier signals L1 and L2. Because delay varies approximately as the inverse
square of signal frequency f (delay / f 2
), the measurable differential delay
between the two carrier frequencies can be used to compensate for the delay in
each carrier. (See [86] for details.)
Code Division Multiplexing Knowledge of the PRN codes allows users indepen-
dent access to multiple GPS satellite signals on the same carrier frequency. The
signal transmitted by a particular GPS signal can be selected by generating and
matching, or correlating, the PRN code for that particular satellite. All PRN codes
are known and are generated or stored in GPS satellite signal receivers carried by
ground observers. A ®rst PRN code for each GPS satellite, sometimes referred to as
a precision code or P-code, is a relatively long, ®ne-grained code having an
associated clock or chip rate of 10f0 ˆ 10:23 MHz. A second PRN code for each
GPS satellite, sometimes referred to as a clear or coarse acquisition code or C=A-
code, is intended to facilitate rapid satellite signal acquisition and hand-over to the P-
code. It is a relatively short, coarser grained code having an associated clock or chip
rate f0 ˆ 1:023 MHz. The C=A-code for any GPS satellite has a length of 1023 chips
or time increments before it repeats. The full P-code has a length of 259 days, during
which each satellite transmits a unique portion of the full P-code. The portion of P-
code used for a given GPS satellite has a length of precisely one week (7.000 days)
before this code portion repeats. Accepted methods for generating the C=A-code and
P-code were established by the satellite developer1
in 1991 [42, 66].
Navigation Signal The GPS satellite bit stream includes navigational information
on the ephemeris of the transmitting GPS satellite and an almanac for all GPS
satellites, with parameters providing approximate corrections for ionospheric signal
propagation delays suitable for single-frequency receivers and for an offset time
between satellite clock time and true GPS time. The navigational information is
transmitted at a rate of 50 baud. Further discussion of the GPS and techniques for
obtaining position information from satellite signals can be found in Chapter 3 and
in [84, pp. 1±90].
1.1.1.3 Selective Availability Selective Availability (SA) is a combination of
methods used by the U.S. Department of Defense for deliberately derating the
accuracy of GPS for ``nonauthorized'' (i.e., non±U.S. military) users. The current
satellite con®gurations use only pseudorandom dithering of the onboard time
reference [134], but the full con®guration can also include truncation of the
1
Satellite Systems Division of Rockwell International Corporation, now part of the Boeing Company.
1.1 GPS AND GLONASS OVERVIEW 3](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-24-320.jpg)
![transmitted ephemerides. This results in three grades of service provided to GPS
users. SA has been removed as of May 1, 2000.
Precise Positioning Service Precise Positioning Service (PPS) is the full-
accuracy, single-receiver GPS positioning service provided to the United States
and its allied military organizations and other selected agencies. This service
includes access to the unencrypted P-code and the removal of any SA effects.
Standard Positioning Service without SA Standard Positioning Service (SPS)
provides GPS single-receiver (stand-alone) positioning service to any user on a
continuous, worldwide basis. SPS is intended to provide access only to the C=A-
code and the L1 carrier.
Standard Positioning Service with SA The horizontal-position accuracy, as
degraded by SA, currently is advertised as 100 m, the vertical-position accuracy as
156 m, and time accuracy as 334 nsÐall at the 95% probability level. SPS also
guarantees the user-speci®ed levels of coverage, availability, and reliability.
1.1.2 GLONASS
A second con®guration for global positioning is the Global Orbiting Navigation
Satellite System (GLONASS), placed in orbit by the former Soviet Union, and now
maintained by the Russian Republic [75, 80].
1.1.2.1 GLONASS Orbits GLONASS also uses 24 satellites, but these are
distributed approximately uniformly in three orbital plans (as opposed to four for
GPS) of eight satellites each (six for GPS). Each orbital plane has a nominal
inclination of 64.8
relative to the equator, and the three orbital planes are separated
from each other by multiples of 120
right ascension. GLONASS orbits have smaller
radii than GPS orbits, about 25,510 km, and a satellite period of revolution of
approximately 8
17 of a sidereal day. A GLONASS satellite and a GPS satellite will
complete 17 and 16 revolutions, respectively, around the earth every 8 days.
1.1.2.2 GLONASS Signals The GLONASS system uses frequency division
multiplexing of independent satellite signals. Its two carrier signals corresponding
to L1 and L2 have frequencies f1 ˆ 1:602 ‡ 9k=16† GHz and f2 ˆ
1:246 ‡ 7k=16† GHz, where k ˆ 0; 1; 2; . . . ; 23 is the satellite number. These
frequencies lie in two bands at 1.597±1.617 GHz (L1) and 1240±1260 GHz (L2).
The L1 code is modulated by a C=A-code (chip rate ˆ 0.511 MHz) and by a P-code
(chip rate ˆ 5.11 MHz). The L2 code is presently modulated only by the P-code. The
GLONASS satellites also transmit navigational data at a rate of 50 baud. Because the
satellite frequencies are distinguishable from each other, the P-code and the C=A-
code are the same for each satellite. The methods for receiving and analyzing
4 INTRODUCTION](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-25-320.jpg)
![270 ^be (Breene jfamil^ together in one royal clan. That
there was such a royal line we know, which was called the Clan of
McAlpine, in honor of King Kenneth's father. The Mathesons were a
division or snb-clan of this. Their tradition has ever been that they
were of markedly royal blood; their name means sons of heroes,
and is apparently derived from the obsolete term of Mseatse itself. It
is supposed, therefore, that they are descendants of the royal Pict
clan, intermarried with the McAlpine line until equally of their own
blood alsoAll of the Scotch kings are descended from Kenneth, as
are also all of the English kings from James I. The King of England
counts among his progenitors the Pict and early Scotch Kings. These
far-away kings, however, are as truly the fore-fathers of those who
bear the Matheson or Mattison name as they are of England's royal
family. A Scotch clan consists of tribesmen who intermarry until the
humblest of the clan has of the blood of the head of the clan who
gave it its name. Clan pride was great. The old Scotch traced their
kinship to fourteenth coiisins, or five hundred years to a common
ancestor. The head of each clan was called The ]IcIntosli, The
McDonald, The Matheson, etc. His word was law, above the king's
own. When the chief would summon his men to war, he took a cross
of wood, marked it with fire and blood, then gave it to the first man
he met, naming a day and the field of rendezvous. He who received
the fiery cross fled as though for his life, until he reached another
one of the tribe, to whom he gave the cross and message. The
largest clan in this way was assembled in two days' time. In time a
large clan divided into sub-clans, who never, however, forgot their
common tie. The royal clan of IMcAlpine divided into the sub-clans
of McGregor, Grant, ]IcKinnon, McNab, McPhie, McOuarie, ]IcAuley
and Matheson. They had many customs in common, and all wore in
battle or parade the clan badge, a sprig of pine or Scotch fir. Scott in
his Lady of the Lake, that has for its motif the pride and power of
the McAlpine chief, put this song of the pine in the mouth of a
hundred clansmen, as they sing of their chief, Rhoderic Dhu. Hail
to the chief who in triumph advances ! Honored and blest be the
ever-green Pine ! Long may the tree, in his banner tliat glances.](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-34-320.jpg)
![Sbe (Breene Jfainil^ 271 Ours is no sapling, cliance-sown
by tiie tount.iin. Blooming at Beltane, in winter to fade : When the
whirlwind has stripped every leaf on the mountain. The more shall
Clan Alpine exult in her shade. Moored in the rifted rock, Proof to
the tempest's shock. Firmer he roots him the ruder it blows ;
Mentieth arid Breadalbane, then. Echo his praise again, ' Roderigh
Vich Alpine dliu, ho ! ieroe ! ' * The seat of the Matheson clan is
supposed to have been in the Highlands of Rosshire, in Northern
Scotland. They had their own clan music that their bag-pipers
played, and they rushed into battle with a wild cathghainn or battle
cry, '■'■ Dail acha'n da t/iear tiai f'' — The field between two hills !
This was their clan rendezvous, a valley plain where they always
assembled to muster for warfare, for every ]Iatheson believed that
illluck would attend them did they muster elsewhere. They had their
own tartan plaid, that only a Matheson might wear, and the men
wore buskins, or short boots of deer-skin after a pattern of their
own. For hundreds of years they had their great clan gatherings, a
feature of which was the dancing of the clansmen. Expert dancers
not only could do the spring, as the Scotch say, in reel, fling and
strathspery, but could wind through the intricate step of Kemshoal,
Kemkossy, Lamatrast, Kenbradenoch and forgladlu. After the
Reformation the clan embraced the most straight-laced
Presbyterianism. Under James I., about 1608, there was a great
emigration of the Scotch to Ulster, in the northern part of Ireland.
Some of that branch of the family in which those who read this
sketch are interested, were among the number. It was two
grandsons of these emigrants that came to New England in the early
days, and whose descendants are now so numerous. One of these
came to R. I., probably about 1668. This was Henry Matteson, born
in Ireland, Oct.. 1646. He married Hannah Parsons, and became the
head of a large line that has largely intermarried with the house of
Greene. A large part of the Josiah ^Matteson line adopted the
spelling and pronunciation of ]Mathewson. President James ]Iadison
was of Scotch-Irish ancestry also. At the time of his election, a part
of the family, because he was the most eminent of the blood,](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-36-320.jpg)
![274 ^l5e (Brecne family JOSIAH MATTESONl Next to the
youngest son of Henry IMatteson, the Emigrant. Named after his
mother's people. Born about 1685. He lived for many years in Foster,
R. I., but his line are nearly all of West Greenwich. He married
Rosanna, daughter of Zerubabel Westcott. [Richard Westcott',
Stukeley Westcott, (see Chapter VI), Robert^ ZerubabeP,
Rosanna.] He had Nathan, who m. in 1738, David, who m. in 1739,
and Josiah, whom, in 1746. He probably had John who m. in 1740,
James, whom, in 1749, and possibly William, who m. in 1752.
David', Lived in West Greenwicli. R. I. Silas*, m. Patience 1766. Had
Rosanna* who m. Solomon* of Capt. Henry' line, and Christopher*,
whose son was James McKinsey'. Also James Oliver. Gardiner, Royal,
John and Josiah Gifford. David*, b. Oct. 25, 1763. A Revol. Soldier.
He m. Dorcas, dau. of Silas Waitc. They had Andrew rind Waite, who
moved to Pa. Amos*, moved to Mich. Had David, Joseph, a Chicago
capitalist, and daughters. Peleg*, m. Polly James. 13 children.
Rebecci m. Calvin Wilco.x. Pliilip« by two wives had 9 children (See
chapter XVIII for line of David of these.) Simon* h.-id I child ;
Hannah' m. Daniel Lillibredge and had Thurston. Rhoda, Amyand
Hannah; Pele.s; Jr.'m. Hannah, dau. of Col. Edward Barber;
hischildren are Mary M.. widow of Charles S. Nichols, and mother of
Nettie May Nichols, and David Edwin, who m. .-Mice A. Greene, (see
Chapter XXI., line of White Hat John), and Phebe C, wife of J. J.
Greene. 4 children. Of the other children of Peleg*, Dr. James' line
are all dead ; Fanny* and Polly* m. Bradford and Welcome Barber,
and had 6 and 7 children respectively, of which Fanny's are all dead ;
Albert m, twice, children all de.id. .Andrew* has 2 children, and
Charles* is a bachelor. Jeremiah*, m. Sallie Bennett. John, William.
Benjamin, George and Jeremiah married. Benoni', m. .Mice, dau. of
Col. Edward I?arber. Had Phebe and Dorcas, and Eunice, who m.
Reynolds Waite, and had a dau., Mabel E. .. See Chapter XVHI.
Josiah^ m. Mercy Nichols, March 5, 1746. She descended from Hon.
Thomas Nichols thus : Thomas', Thonla^^ b. 1660, and m. to Mercy
Reynolds ; Stephen', m. to Sarah, and Mercy, their daughter, born,
1722. Stukeley*, m. Mapleb Hopkins. Their dau. Sally m. Caleb](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-42-320.jpg)
![^be (Brcene Ifamil? 275 Peleg Clarke, who lias Lucius,
Albert, Lorenzo and Carrie. Wanton^, who had Horace, father of Jas.
and Wanton. John', prob. of Josiah=, m. 1740, had Job, Joshua,
Abel and Thomas. James', prob. of Josiah^ m. Hannah Sweet 1749.
They had Rufus who m, Lucy Spink and had Thos. who m. Maria
James. HEZEKIAH MATTESON^ m. Margaret, daughter of Zerubabel
and Jane Westcott. See under heading of Josiah. Abraham'. ^^ his
second cousin, Freelove Phillips. See Chapter XX. Sons John,
Abraham, Daniel and Thomas. The other sons of Hezekiah jMatteson
were Amos, Zerubabel, and Samuel. It is supposed they mostly
moved to N. Y. THE LASCELLE-WARDWELL LINE There are no kings
or princes to fall back upon in this line, or even lords. Nevertheless it
has given to the world President Pierce, Susan B. Anthony and Gen.
Nathaniel Greene, which is glory enough for one line. It has
furnished progenitors for the Pierce, Wardvvell, Anthony, Waite,
Slocum and Hill families. The entire line of Lieut. John Greene is
descended from them, through Abigail Wardwell, his wife. I confess
the old records are tantalizingly obscure and chopped off. It has
taken long and patient study to weld the links together. There may
be minor errors, but practically this account is correct. Both lines
have been hard to trace because pronounced and written so many
different ways. Wardwell is the correct form of the name of the
Welsh-English line. It is an old compound word meaning the guard's
spring, pointing to the feudal landmark near which the first name-
bearer lived. We find the name recorded in English, Welsh, ]Mass.
and R. I. records under 24 different spelling, viz.: Wardwell, Woodall,
Udall, Warrell, Woddle, Warden, Wordell, Wardall, Werdell. Woddall,
Waddall, Wadle, Wadell, Wardel, Wardayle, Werdall, Woddell,
Worrall, Udell, Wriddell, Warrall, Wodell, Wadel and Wadall. Lascelle,
the other original line, was French. When the name-bearer came to
England, pronouncing the name as he did, with his Frenchy slurred
consonants, and burry accent on the terminal syllable celle, his
English neighbors in despair gave him various names ending in
sounds of zell, sell, or sail, [Mitchell's History of Bridgewater.] It
became Hazell, Hazeal, La Zelle, La Zalle, Yazell, Youzell. Yousiel,](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-44-320.jpg)
![Zbe 6reene JTamiii? 277 the witchcraft excitement broke
out in 1692, Sarah Hawkes-Wardwell and her daughter were both
arrested as witches. Badly frightened, they said it was Samuel, the
husband and father, who had been bewitching people. He denied it,
but was hung Sept. 20, 1697, as an impenitent v.-itch and
possessor of a familiar spirit. William, of Boston, brother to Thomas,
was born in 1610. Came to the colonies in 1633, as Our brother,
Edmund Quincey's servant, (Church records.) He married Alice and
had 5 children, of whom the second was Uzel (Lascelle), b. April 7,
1639. When the church banished Rev. Mr. Wheelwright for heresy,
William, for being too friendly with him had his arms and freeman's
privileges taken from him for a time. William died either at Wells or
Boston in 1670. One of the entries in the Wells records gravely
assigns a pew in the church to him, To sitt in ye sixth of ye men's
long seats in consideration that his son Elihu sitt in ye same seat.
William of Boston's two sons, Uzel and Elihu Wardwell, both served
in King Philip's War, 1675-6, as the Mass. archives show. Uzel, the
ancestor of all of Lieut. John Greene's line (of Chapter XV) served
under Capt. Nicholas Paige, and the state of Mass. still owes him for
his services, 5^, los ($25.00). [Mass. Archives, vol. 68.] Uzel was m.
May 3, 1664, when 25, to the young widow of Daniel Ringe, Mary
Kinsman-Ringe. They lived at both Bristol and Ipswich, Mass. At the
latter place, Abigail, their oldest child, b. Oct. 27, 1665, was married
at 19 to Lieut. John Greene of R. I. I shall not attempt to give of the
other W^ardwells, except to say that William of R. I. also had a
Uzel, born the same year as the Mass. Uzel. He married Grace and
their lines are entirely different. I will not attempt to trace in this the
Kings, Pierces, Motts or Slocums. One other line needs to be spoken
of. Another child of William and Meribe Wardell was Rosanna, who
married Waite. They had several children who came to the Colonies,
Alelutable, the oldest, who married Richard Hill, of William, and was
left a widow soon after coming to the new country ; Richard Waite,
born in 1596, Gambiel, b. in 1598, and Thomas, b. 1601. All of these
came about the height of the Anti-Laud emigration. One of the sons,
Thomas, went to Portsmouth, R. I., in 1639, and from him all the R.](https://image.slidesharecdn.com/86117-250716150428-e02971cd/85/Global-Positioning-Systems-Inertial-Navigation-and-Integration-Mohinder-S-Grewal-48-320.jpg)
Global Positioning Systems Inertial Navigation and Integration Mohinder S. Grewal
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- 6. Global Positioning Systems, Inertial Navigation, and Integration Global Positioning Systems, Inertial Navigation, and Integration, Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews Copyright # 2001 John Wiley & Sons, Inc. Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9
- 7. Global Positioning Systems, Inertial Navigation, and Integration MOHINDER S. GREWAL California State University at Fullerton LAWRENCE R. WEILL California State University at Fullerton ANGUS P. ANDREWS Rockwell Science Center A John Wiley & Sons, Inc. Publication NEW YORK = CHICHESTER = WEINHEIM = BRISBANE =SINGAPORE =TORONTO
- 8. Designations used by companies to distinguish their products are often claimed as trademarks. In all instances where John Wiley & Sons, Inc., is aware of a claim, the product names appear in initial capital or ALL CAPITAL LETTERS. Readers, however, should contact the appropriate companies for more complete information regarding trademarks and registration. Copyright # 2001 by John Wiley & Sons, Inc. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic or mechanical, including uploading, downloading, printing, decompiling, recording or otherwise, except as permitted under Sections 107 or 108 of the 1976 United States Copyright Act, without the prior written permission of the Publisher. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 605 Third Avenue, New York, NY 10158-0012, (212) 850-6011, fax (212) 850-6008, E-Mail: PERMREQ @ WILEY.COM. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold with the understanding that the publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional person should be sought. ISBN 0-471-20071-9. This title is also available in print as ISBN 0-471-35032-X. For more information about Wiley products, visit our web site at www.Wiley.com.
- 9. Contents PREFACE ix ACKNOWLEDGMENTS xiii ACRONYMS xv 1 Introduction 1 1.1 GPS and GLONASS Overview 2 1.2 Differential and Augmented GPS 5 1.3 Applications 7 2 Fundamentals of Satellite and Inertial Navigation 9 2.1 Navigation Systems Considered 9 2.2 Fundamentals of Inertial Navigation 10 2.3 Satellite Navigation 14 2.4 Time and GPS 24 2.5 User Position Calculations with No Errors 26 2.6 User Velocity Calculation with No Errors 28 Problems 29 3 Signal Characteristics and Information Extraction 30 3.1 Mathematical Signal Waveform Models 30 3.2 GPS Signal Components, Purposes and Properties 32 3.3 Signal Power Levels 45 3.4 Signal Acquisition and Tracking 46 v
- 10. 3.5 Extraction of Information for Navigation Solution 61 3.6 Theoretical Considerations in Pseudorange and Frequency Estimation 67 3.7 Modernization of GPS 71 3.8 GPS Satellite Position Calculations 76 Problems 78 4 Receiver and Antenna Design 80 4.1 Receiver Architecture 80 4.2 Receiver Design Choices 85 4.3 Antenna Design 98 Problems 100 5 GPS Data Errors 103 5.1 Selective Availability Errors 103 5.2 Ionospheric Propagation Errors 110 5.3 Tropospheric Propagation Errors 114 5.4 The Multipath Problem 115 5.5 How Multipath Causes Ranging Errors 116 5.6 Methods of Multipath Mitigation 118 5.7 Theoretical Limits for Multipath Mitigation 124 5.8 Ephemeris Data Errors 126 5.9 Onboard Clock Errors 126 5.10 Receiver Clock Errors 127 5.11 Error Budgets 128 Problems 130 6 Inertial Navigation 131 6.1 Background 131 6.2 Inertial Sensors 135 6.3 Navigation Coordinates 152 6.4 System Implementations 153 6.5 System-Level Error Models 170 Problems 178 7 Kalman Filter Basics 179 7.1 Introduction 179 7.2 State and Covariance Correction 181 7.3 State and Covariance Prediction 190 7.4 Summary of Kalman Filter Equations 198 7.5 Accommodating Correlated Noise 201 7.6 Nonlinear and Adaptive Implementations 207 7.7 Kalman±Bucy Filter 213 vi CONTENTS
- 11. 7.8 GPS Receiver Examples 215 Problems 224 8 Kalman Filter Engineering 229 8.1 More Stable Implementation Methods 229 8.2 Implementation Requirements 239 8.3 Kalman Filter Monitoring 245 8.4 Schmidt±Kalman Suboptimal Filtering 250 8.5 Covariance Analysis 251 8.6 GPS=INS Integration Architectures 252 Problems 264 9 Differential GPS 265 9.1 Introduction 265 9.2 LADGPS, WADGPS, and WAAS 266 9.3 GEO Uplink Subsystem (GUS) 269 9.4 GEO Uplink Subsystem (GUS) Clock Steering Algorithms 276 9.5 GEO Orbit Determination 282 Problems 290 Appendix A Software 291 A.1 Chapter 3 Software 291 A.2 Chapter 5 Software 291 A.3 Chapter 6 Software 291 A.4 Chapter 7 Software 292 A.5 Chapter 8 Software 294 Appendix B Vectors and Matrices 296 B.1 Scalars 296 B.2 Vectors 297 B.3 Matrices 300 Appendix C Coordinate Transformations 324 C.1 Notation 324 C.2 Inertial Reference Directions 326 C.3 Coordinate Systems 328 C.4 Coordinate Transformation Models 346 GLOSSARY 370 REFERENCES 374 INDEX 383 CONTENTS vii
- 12. Preface This book is intended for people who will use Global Positioning Systems (GPS), Inertial Navigation Systems (INS), and Kalman ®lters. Our objective is to give our readers a working familiarity with both the theoretical and practical aspects of these subjects. For that purpose we have included ``real-world'' problems from practice as illustrative examples. We also cover the more practical aspects of implementation: how to represent problems in a mathematical model, analyze performance as a function of model parameters, implement the mechanization equations in numeri- cally stable algorithms, assess its computational requirements, test the validity of results, and monitor performance in operation with sensor data from GPS and INS. These important attributes, often overlooked in theoretical treatments, are essential for effective application of theory to real-world problems. The accompanying diskette contains MATLAB2 m-®les to demonstrate the workings of the Kalman ®lter algorithms with GPS and INS data sets, so that the reader can better discover how the Kalman ®lter works by observing it in action with GPS and INS. The implementation of GPS, INS, and Kalman ®ltering on computers also illuminates some of the practical considerations of ®nite-wordlength arithmetic and the need for alternative algorithms to preserve the accuracy of the results. If the student wishes to apply what she or he learns, then it is essential that she or he experience its workings and failingsÐand learn to recognize the difference. The book is organized for use as a text for an introductory course in GPS technology at the senior level or as a ®rst-year graduate level course in GPS, INS, and Kalman ®ltering theory and application. It could also be used for self-instruction or review by practicing engineers and scientists in these ®elds. Chapter 1 informally introduces the general subject matter through its history of development and application. Chapters 2±5 and 9 cover the basic theory of GPS and ix
- 13. present material for a senior-level class in geomatics, electrical engineering, systems engineering, and computer science. Chapters 6±8 cover the application of GPS and INS integration with Kalman ®ltering. These chapters could be covered in a graduate level course in Electrical, computer, and systems engineering. Chapter 6 gives the basics of INS. Chapter 7 covers linear optimal ®lters, predictors, and nonlinear estimation by ``extended'' Kalman ®lters. Applications of these techniques to the identi®cation of unknown parameters of systems are given as examples. Chapter 8 deals with Kalman ®lter engineering, with algorithms provided for computer implementation. Chapter 9 covers current developments in the Wide Area Augmentation System (WAAS) and Local-Area Augmentation System (LAAS), including Local Area Differential GPS (LADGPS) and Wide- Area Differential GPS (WADGPS). The following chapter-level dependency graph shows the book's organization and how the subject of each chapter depends upon material in other chapters. The arrows in the ®gure indicate the recommended order of study. Boxes above another box and x PREFACE
- 14. connected by arrows indicate that the material represented by the upper boxes is background material for the subject in the lower box. MOHINDER S. GREWAL, Ph.D., P.E. California State University at Fullerton LAWRENCE R. WEILL, Ph.D. California State University at Fullerton ANGUS P. ANDREWS, Ph.D. Rockwell Science Center Thousand Oaks, California PREFACE xi
- 15. Acknowledgments M.S.G dedicates this work to his wife, Sonja Grewal, in recognition of her active support in the preparation of the manuscript and ®gures. L.R.W. wishes to thank his mother, Christine R. Weill, who recently passed away, for her love and encouragement in pursuing his chosen profession. He also is indebted to the people of Magellan Systems Corporation, who so willingly shared their knowledge of the Global Positioning System during the development of the World's ®rst hand-held receiver for the consumer market. A.P.A. dedicates his work to his wife, Geraldine Andrews, without whose support and forbearance this could not have happened. M.S.G also acknowledges the assistance of Mrs. Laura Cheung, graduate student at California State University at Fullerton, for her expert assistance with the Matlab programs, and Dr. Jya-Syin Wu and N. Pandya of the Raytheon Systems Company for their assistance in reviewing the manuscript. xiii
- 16. Acronyms A=D Analog-to-digital (conversion) ADC Analog-to-digital converter ADS Automatic dependent surveillance AGC Automatic gain control AIC Akaike information-theoretic criterion ALF Atmospheric loss factor AOR-E Atlantic Ocean Region East (WAAS) AOR-W Atlantic Ocean Region West (WAAS) ARINC Aeronautical Radio, Inc. ARMA Autoregressive moving-average AS Antispoo®ng ATC Air traf®c control BIH Bureau International de l'Heure BPSK Binary phase-shift keying C=A Coarse=acquisition (channel or code) C&V Correction and Veri®cation (WAAS) CDM Code division multiplexing CDMA Code division multiple access CEP Circle of equal probability CERCO Comite  Europe Âen des Responsables de la Cartographie Of®cielle CFAR Constant false alarm rate xv
- 17. CONUS Conterminous United States, also continental United States DFT Discrete Fourier transform DGPS Differential GPS DME Distance measurement equipment DoD Department of Defense DOP Dilution of precision ECEF Earth centered, earth ®xed (coordinates) ECI Earth-centered inertial (coordinates) EDM Electronic distance measurement EGM Earth Gravity Model EGNOS European Geostationary Navigation Overlay Service EIRP Effective isotropic radiated power EMA Electromagnetic accelerometer EMRBE Estimated maximum range and bias error ENU East-north-up (coordinates) ESA European Space Agency FAA Federal Aviation Administration FEC Forward error correction FLL Frequency-lock loop FM Frequency modulation FOG Fiber-optic gyroscope FPE Final prediction error FSLF Free-space loss factor FVS Functional veri®cation system GBI Ground-based interceptor GDOP Geometric dilution of precision GEO Geostationary earth orbit GES COMSAT GPS earth station GIPSY GPS-Infrared Positioning System GIS Geographical Information Systems GIVE Grid ionosphere vertical error GLONASS Global Orbiting Navigation Satellite System GNSS Global Navigation Satellite System GOA GIPSY=OASIS analysis GPS Global Positioning System GUS GEO uplink subsystem HAL Horizontal alert system HDOP Horizontal dilution of precision HOT Higher order terms xvi ACRONYMS
- 18. HOW Hand-over word HPL Horizontal protection limit IAG International Association of Geodesy IERS International Earth Rotation Service IF Intermediate frequency IGP Ionospheric grid point (for WAAS) ILS Instrument Landing System Inmarsat International Mobile (originally ``Maritime'') Satellite Organization INS Inertial navigation system IODC Issue of data, clock IODE Issue of data, ephemeris IOR Indian Ocean Region (WAAS) IRM IERS reference meridian IRP IERS reference pole IRU Inertial reference unit ISO International Standardization Organization ITRF International Terrestrial Reference Frame ITRS International Terrestrial Reference System ITS Intelligent Transport Systems ITU International Telecommunications Union JCAB Japanese Commercial Aviation Board JTIDS Joint Tactical Information Distribution System LAAS Local Area Augmentation System LADGPS Local-area differential GPS LEO Low earth orbit LHS Left-hand side (of an equation) LORAN Long-range navigation LPF Low-pass ®lter LSB Least signi®cant bit LTP Local tangent plane MEDLL Multipath-estimating delay-lock loop MEMS Micro-electromechanical systems ML Maximum likelihood MLE Maximum-likelihood estimate MMSE Minimum mean-squared error (estimator) MMT Multipath mitigation technology MSAS MTSAT Based Augmentation System MSB Most signi®cant bit MSL Mean sea level ACRONYMS xvii
- 19. MTSAT Multifunctional Transport Satellite MVUE Minimum-variance unbiased estimator NAS National Airspace System NAVSTAR Navigation System with Time and Ranging NCO Numerically controlled oscillator NDB Nondirectional beacon NED North±east±down (coordinates) NGS National Geodetic Survey NIMA National Imaging and Mapping Agency NNSS Navy Navigation Satellite System NPA Non-precision approach NSTB National Satellite Test Bed OASIS Orbit Analysis Simulation Software PA Precision approach P-code Precision code PDF Probability density function PDOP Position dilution of precision PI Proportional and integral (controller) PIGA Pulse-integrating gyroscopic accelerometer PLGR Personal low-cost GPS receiver PLL Phase-lock loop PLRS Position Location and Reporting System PN Pseudonoise POR Paci®c Ocean Region (WAAS) PPS Precise Positioning Service PRN Pseudorandom noise or pseudorandom number PRNAV Precision Area Navigation PSD Power spectral density RAAN Right ascension of ascending node RAG Relative antenna gain RF Radio frequency RINEX Receiver Independent Exchange Format (for GPS data) RLG Ring laser gyroscope RMS Root mean squared, also Reference Monitoring Station RNAV Area navigation ROC Receiver operating characteristic RPY Roll pitch yaw (coordinates) RTCM Radio Technical Commission for Maritime Service SA Selective Availability (also abbreviated ``S=A'') xviii ACRONYMS
- 20. SAE Society of Automotive Engineers SAVVAN Syste Áme Automatique de Ve Âri®cation en Vol des Aides a la Navigation SAW Surface acoustic wave SBAS Space-based augmentation system SBIRLEO Space-based infrared low earth orbit SIS Signal in space SNR Signal-to-noise ratio SPS Standard Positioning Service SV Space vehicle (time) SVN Space vehicle number ( ˆ PRN for GPS) TCS Terrestrial communications subsystem (for WAAS) TCXO Temperature compensated Xtal (crystal) oscillator TDOP Time dilution of precision TEC Total electron count TLM Telemetry word TOA Time of arrival TOW Time of week TTFF Time to ®rst ®x UDDF Universal Data Delivery Format UDRE User differential range error UERE User-equivalent range error UPS Universal Polar Stereographic URE User range error UTC Universal Time Coordinated (or Coordinated Universal Time) UTM Universal Transverse Mercator VAL Vertical alert limit VDOP Vertical dilution of precision VHF Very high frequency (30±300 MHz) VOR VHF OmniRange (radio navigation aid) VPL Vertical protection limit WAAS Wide Area Augmentation System WADGPS Wide-area differential GPS WGS World Geodetic System WMS Wide-area master station WN Week number WNT WAAS network time WRE Wide-area reference equipment WRS Wide-area reference station ACRONYMS xix
- 21. Global Positioning Systems, Inertial Navigation, and Integration
- 22. 1 Introduction The ®ve basic forms of navigation are as follows: 1. Pilotage, which essentially relies on recognizing landmarks to know where you are. It is older than human kind. 2. Dead reckoning, which relies on knowing where you started from, plus some form of heading information and some estimate of speed. 3. Celestial navigation, using time and the angles between local vertical and known celestial objects (e.g., sun, moon, or stars) [115]. 4. Radio navigation, which relies on radio-frequency sources with known locations (including Global Positioning System satellites). 5. Inertial navigation, which relies on knowing your initial position, velocity, and attitude and thereafter measuring your attitude rates and accelerations. It is the only form of navigation that does not rely on external references. These forms of navigation can be used in combination as well [16, 135]. The subject of this book is a combination of the fourth and ®fth forms of navigation using Kalman ®ltering. Kalman ®ltering exploits a powerful synergism between the Global Positioning System (GPS) and an inertial navigation system (INS). This synergism is possible, in part, because the INS and GPS have very complementary error characteristics. Short-term position errors from the INS are relatively small, but they degrade without bound over time. GPS position errors, on the other hand, are not as good over the short term, but they do not degrade with time. The Kalman ®lter is able to take advantage of these characteristics to provide a common, integrated navigation 1 Global Positioning Systems, Inertial Navigation, and Integration, Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews Copyright # 2001 John Wiley & Sons, Inc. Print ISBN 0-471-35032-X Electronic ISBN 0-471-20071-9
- 23. implementation with performance superior to that of either subsystem (GPS or INS). By using statistical information about the errors in both systems, it is able to combine a system with tens of meters position uncertainty (GPS) with another system whose position uncertainty degrades at kilometers per hour (INS) and achieve bounded position uncertainties in the order of centimeters [with differential GPS (DGPS)] to meters. A key function performed by the Kalman ®lter is the statistical combination of GPS and INS information to track drifting parameters of the sensors in the INS. As a result, the INS can provide enhanced inertial navigation accuracy during periods when GPS signals may be lost, and the improved position and velocity estimates from the INS can then be used to make GPS signal reacquisition happen much faster when the GPS signal becomes available again. This level of integration necessarily penetrates deeply into each of these subsystems, in that it makes use of partial results that are not ordinarily accessible to users. To take full advantage of the offered integration potential, we must delve into technical details of the designs of both types of systems. 1.1 GPS AND GLONASS OVERVIEW 1.1.1 GPS The GPS is part of a satellite-based navigation system developed by the U.S. Department of Defense under its NAVSTAR satellite program [54, 56, 58±63, 96± 98]. 1.1.1.1 GPS Orbits The fully operational GPS includes 24 or more (28 in March 2000) active satellites approximately uniformly dispersed around six circular orbits with four or more satellites each. The orbits are inclined at an angle of 55 relative to the equator and are separated from each other by multiples of 60 right ascension. The orbits are nongeostationary and approximately circular, with radii of 26,560 km and orbital periods of one-half sidereal day (11:967 h). Theoretically, three or more GPS satellites will always be visible from most points on the earth's surface, and four or more GPS satellites can be used to determine an observer's position anywhere on the earth's surface 24 h per day. 1.1.1.2 GPS Signals Each GPS satellite carries a cesium and=or rubidium atomic clock to provide timing information for the signals transmitted by the satellites. Internal clock correction is provided for each satellite clock. Each GPS satellite transmits two spread spectrum, L-band carrier signalsÐan L1 signal with carrier frequency fl ˆ 1575:42 MHz and an L2 signal with carrier frequency f2 ˆ 1227:6 MHz. These two frequencies are integral multiples f1 ˆ 1540f0 and f2 ˆ 1200f0 of a base frequency f0 ˆ 1:023 MHz. The L1 signal from each satellite uses binary phase-shift keying (BPSK), modulated by two pseudorandom noise (PRN) codes in phase quadrature, designated as the C=A-code and P-code. The L2 2 INTRODUCTION
- 24. signal from each satellite is BPSK modulated by only the P-code. A brief description of the nature of these PRN codes follows, with greater detail given in Chapter 3. Compensating for Propagation Delays This is one motivation for use of two different carrier signals L1 and L2. Because delay varies approximately as the inverse square of signal frequency f (delay / f 2 ), the measurable differential delay between the two carrier frequencies can be used to compensate for the delay in each carrier. (See [86] for details.) Code Division Multiplexing Knowledge of the PRN codes allows users indepen- dent access to multiple GPS satellite signals on the same carrier frequency. The signal transmitted by a particular GPS signal can be selected by generating and matching, or correlating, the PRN code for that particular satellite. All PRN codes are known and are generated or stored in GPS satellite signal receivers carried by ground observers. A ®rst PRN code for each GPS satellite, sometimes referred to as a precision code or P-code, is a relatively long, ®ne-grained code having an associated clock or chip rate of 10f0 ˆ 10:23 MHz. A second PRN code for each GPS satellite, sometimes referred to as a clear or coarse acquisition code or C=A- code, is intended to facilitate rapid satellite signal acquisition and hand-over to the P- code. It is a relatively short, coarser grained code having an associated clock or chip rate f0 ˆ 1:023 MHz. The C=A-code for any GPS satellite has a length of 1023 chips or time increments before it repeats. The full P-code has a length of 259 days, during which each satellite transmits a unique portion of the full P-code. The portion of P- code used for a given GPS satellite has a length of precisely one week (7.000 days) before this code portion repeats. Accepted methods for generating the C=A-code and P-code were established by the satellite developer1 in 1991 [42, 66]. Navigation Signal The GPS satellite bit stream includes navigational information on the ephemeris of the transmitting GPS satellite and an almanac for all GPS satellites, with parameters providing approximate corrections for ionospheric signal propagation delays suitable for single-frequency receivers and for an offset time between satellite clock time and true GPS time. The navigational information is transmitted at a rate of 50 baud. Further discussion of the GPS and techniques for obtaining position information from satellite signals can be found in Chapter 3 and in [84, pp. 1±90]. 1.1.1.3 Selective Availability Selective Availability (SA) is a combination of methods used by the U.S. Department of Defense for deliberately derating the accuracy of GPS for ``nonauthorized'' (i.e., non±U.S. military) users. The current satellite con®gurations use only pseudorandom dithering of the onboard time reference [134], but the full con®guration can also include truncation of the 1 Satellite Systems Division of Rockwell International Corporation, now part of the Boeing Company. 1.1 GPS AND GLONASS OVERVIEW 3
- 25. transmitted ephemerides. This results in three grades of service provided to GPS users. SA has been removed as of May 1, 2000. Precise Positioning Service Precise Positioning Service (PPS) is the full- accuracy, single-receiver GPS positioning service provided to the United States and its allied military organizations and other selected agencies. This service includes access to the unencrypted P-code and the removal of any SA effects. Standard Positioning Service without SA Standard Positioning Service (SPS) provides GPS single-receiver (stand-alone) positioning service to any user on a continuous, worldwide basis. SPS is intended to provide access only to the C=A- code and the L1 carrier. Standard Positioning Service with SA The horizontal-position accuracy, as degraded by SA, currently is advertised as 100 m, the vertical-position accuracy as 156 m, and time accuracy as 334 nsÐall at the 95% probability level. SPS also guarantees the user-speci®ed levels of coverage, availability, and reliability. 1.1.2 GLONASS A second con®guration for global positioning is the Global Orbiting Navigation Satellite System (GLONASS), placed in orbit by the former Soviet Union, and now maintained by the Russian Republic [75, 80]. 1.1.2.1 GLONASS Orbits GLONASS also uses 24 satellites, but these are distributed approximately uniformly in three orbital plans (as opposed to four for GPS) of eight satellites each (six for GPS). Each orbital plane has a nominal inclination of 64.8 relative to the equator, and the three orbital planes are separated from each other by multiples of 120 right ascension. GLONASS orbits have smaller radii than GPS orbits, about 25,510 km, and a satellite period of revolution of approximately 8 17 of a sidereal day. A GLONASS satellite and a GPS satellite will complete 17 and 16 revolutions, respectively, around the earth every 8 days. 1.1.2.2 GLONASS Signals The GLONASS system uses frequency division multiplexing of independent satellite signals. Its two carrier signals corresponding to L1 and L2 have frequencies f1 ˆ 1:602 ‡ 9k=16† GHz and f2 ˆ 1:246 ‡ 7k=16† GHz, where k ˆ 0; 1; 2; . . . ; 23 is the satellite number. These frequencies lie in two bands at 1.597±1.617 GHz (L1) and 1240±1260 GHz (L2). The L1 code is modulated by a C=A-code (chip rate ˆ 0.511 MHz) and by a P-code (chip rate ˆ 5.11 MHz). The L2 code is presently modulated only by the P-code. The GLONASS satellites also transmit navigational data at a rate of 50 baud. Because the satellite frequencies are distinguishable from each other, the P-code and the C=A- code are the same for each satellite. The methods for receiving and analyzing 4 INTRODUCTION
- 26. Another Random Scribd Document with Unrelated Content
- 27. 266 Zbc 6reene famtli? of the Mseatfe, presumably the nucleus of the Matheson clan. The Romans later gave the name of Picts to all the North Britain tribes, including the Mseatae. After the Romans left Britain, in 448, the Picts plundered the Britons. This unwarlike people appealed to the Saxons in Germany to help them. The Saxons came, sent the Picts about their business, and gobbled up Britain for themseh-es. With them began England and English history. The Picts were no longer savages. They had already picked up — no pun intended — a few glosses of civilization, when in A. D. 400, Saint Ninian preached the gospel to them and converted the South Picts. From that time their advance was rapid. But they had scarcely settled down to peaceful pursuits when a rival nation appeared contending for Pictavia or Caledonia, as North Britain was variously called. A few centuries before Ireland had been conquered by the Gael, said to have been Milesians from Spain. They were a Celtic people, for they could, though with some diificulty, converse with the Picts of North Britain. The city of Tara was their capital, and at Tara's court were gathered an imposing number of bards, sages, sooth-sayers and law-makers, showing that, though heathen, their civilization was of a high type for those days. Macfirbis, who died in 1400, quotes one of the old Irish bards as saying of this ruling class : — Every one who is white of skin, brown of hair, bold, honorable, daring, prosperous, Ijountiful in the bestowal of property, wealth and rings, and who is not afraid of battle or combat — is the descendant of IIilesius in Erinn. This is flattering, but graphic. A. D. 426, Saint Patrick the Missionary began his labors in Ireland. He was so earnest and faithful that King Laogaire McNeill became a convert, and the whole nation followed the King's example. The good bishop spent the rest of his century or so of life in Ireland. It is said that he himself baptized more than twelve thousand persons. One of these was a boy of royal blood, Fergus McEarc, son of Earc (or Ferchard), King of Meath, the principal kingdom. Patrick was attracted to the lad and gave him his patriarchal blessing, a circumstance of which the prince was not a little proud and to which it is said he attributed much of his good fortune in after days. Fergus raised an army of
- 28. men to conquer himself a kingdom in the land of the Picts. The Irish king seems to have helped him, perhaps glad to be rid of so ambitious a .spirit so near his throne. It was A. D. 503 when the Irish army crossed the North Channel in their skin boats, and landed in what is now Argyleshire, Scotland. Fergus went forth prepared both to conquer and to colonize. He had his priests and his Seanachaidhe^ men skilled in herbs and remedies. He had his bards, one set of which chanted
- 29. ^be 6reene jTaniil^ 267 the laws, and one the chronicles of the nation. These were his harper-heralds, that led his army into battle. He had, as his rank required, his Oelamh Fila^ the Master Poet, whose office requires him to know three hundred and fifty songs of wars, destructions, adventures and battles, and to have at his tongue's end poems of Tir Tairiigair, the Land of Promise, and Magh Mell, the Plain of Honey, the half-heathen, half-christian Paradise, and the Isle of the Blessed, with a wonderful palace of glass that floats in the air. Only a ruler could wear the peaked hat of thin, beaten gold ; but the Oelanili Fila might wear the fringed and 6color robe, lawful beside but for the king to STONB OF- SCONE IN CORONATION CHAIR wear. These high honors show the control exercised over Erin's rude warriors by the learned class of that day. According to most authorities, Fergus McEarc carried with him also a sacred stone from Tara. According to others it was brought to lona fiftyeight years later by Saint Columba. To the modern eye it is but a slab of dull red sand-stone, twenty-six inches long, sixteen inches broad, and ten inches thick. But this inanimate stone has played no small part in history. In after years fabulous stories gathered about it. It was said to have been the stone upon which Jacob pillowed his head when he saw the vision of angels ascending and descending a ladder from Heaven. It was claimed the stone was carried from Palestine to Egypt by the Prophet Jeremiah,* who e. by William Ellery Cu
- 30. 26S tEbe (5reene jfamil^ acted as a guardian of the Princess Circa or Scola, who fled to that land shortly after her father, King Zedekiah, was taken captive to Babylon, B. C. 580. The story goes that Princess Circa went from Egypt to Ireland, where refugees from the lost ten tribes had already established themselves. She took the precious stone with her because all her ancestors, the kings of Israel, had been crowned upon it. She married a royal prince, and from her time all the Irish kings were crowned upon it to the time of Fergus McEarc, who carried it to Scotland. Still another account of this Holy Pillar of Jacob, is that Hiber or Iber, the Phoenician, came from Palestine and Egypt to Spam, bringing the relic. F'rom there he came with Miletus, and helped to conquer Ireland, which is sometimes called Hibernia in his name. Whatever its real history it was venerated as sacred. It was called the Stone of Scone, because the Scotch Kings were crowned on it at Scone, and Lia Fail, i. e., the Stone of Destiny, because it was held to insure the supremacy of the kingdom that possessed it. In 1296, Edward I., King of England, captured the stone from its shrine at Scone, and carried it to England, where he had a magnificent cornation chair built to receive it. Every English monarch since then has been crowned at Westminster Cathedral, sitting upon the sacred stone that Fergus McEarc brought across the channel fourteen hundred years ago. King Fergus wrested West Scotland from the Picts, and founded the kingdom of Dalriada, or New Scotia. Tradition says both he and his son Eugenius were slain in battle. Half a century later a son of the royal Irish house became a missionary priest. This Columba, or Colum Ceille, sailed away to the new kingdom across the sea in 563. The king then upon the throne was Conal, a greatgrandson of Fergus. Columba asked of King Conal, and of King Brude of the rival Pict nation, a grant of the quiet little island of lona, that he might build a monastery and a priests' college there. His favor was granted, and he immediately erected his ecclesiastical buildings. What lona did for Scotland is beyond computation. For centuries it was, as Dr. Johnson has said, The luminary whence savage clans and roving barbarians derived the benefits of knowledge and the
- 31. blessings of religion. King Brude himself, and all of the North Picts, were yet heathen. He granted Columba permission to preach before him, but connived at his pagan priests and sages raising an infernal din as soon as the sermon began. Columba had a voice of extraordinary compass. He immediately chanted the forty-fifth Psalm in a voice so clear and loud that all the shrieks and yells of the Picts could not drown it. King Brude thought it a miracle and at once, with all his people, embraced Christianity. This good priest of the royal
- 32. ^be (5reene JTamii^ 269 house we are tracing did a wonderful, noble and lasting work. And he died, as became his life, on his knees at prayer. The two lines of Dalriada and Pict Kings were both now Christians. None the less they remained rivals at perennial war between themselves. Neither was able to expel the other, but for two centuries or more the Pict kings were the stronger. The history of these Pict kings is most obscure. Sir Walter Scott in the sixth chapter of The Antiquary touches off in ludicrous fashion the unpronounceable names of some of their kings, — Trynel McLachlin, Drust McTallargam, Golarge McChanannail and Eachan JMcFungus, that made Sir Arthur sneeze but to speak them. Whereupon sarcastic Jonathan Oldbuck put in a fling about numbering in genealogy all the brawling, bulletheaded since the days of Crenttreminachcryme, — not one of whom could write his own name ! Occasionally a name stands out with more distinctness. There was another King Brude, who in 685 killed the English King Egfred in battle, and gained great victories. There was pious King Nectan, who held great religious councils, and built churches. After him, in 730, came King Angus McFergus, the most actie of all. He conquered his rival. King Selvach, of Dalriada. The fortunes of the Scottish or Delriada kings were at low ebb, indeed. Not far from A. D. 800, Alpine came to the weak Scotch throne. He was both a warrior and statesman. He had the sagacity to see there could never be peace with two royal houses to claim the same territory. Having obtained an advantage over the Picts, he compelled their king to give him the Pictish crown princess in marriage. The Pictish crown descended each time through a daughter. The oldest son of the oldest daughter inherited the crown from his grandfather, instead of it going to the kings' sons. Alpine's heir was Kenneth, and Kenneth was, of course, the heir through his mother to the Pict Kingdom. King Kenneth succeeded his father in 836. Seven years later he succeeded the old Pict King, and the two kingdoms were united. It was Kenneth's policy to incorporate the Picts with the Dalraida, henceforth known solely as the Scotch, and their land as Scotland. It is said the Highland dress owes all its distinctive features to the Picts, and that
- 33. the red hair and grey eyes, so often seen in Scotchmen, are from the Picts, also. On the other hand their language and customs gave way to the Irish. Kenneth was a lineal descendant from Fergus McEarc of more than 300 years before. So far as we know, the oldest tribe among the Picts was the Maeatae. It was a particularly warlike tribe also. It is reasonable that from this old and heroic clan the royal line should spring. When the two peoples were merged together, the king's own lines would be naturally placed
- 34. 270 ^be (Breene jfamil^ together in one royal clan. That there was such a royal line we know, which was called the Clan of McAlpine, in honor of King Kenneth's father. The Mathesons were a division or snb-clan of this. Their tradition has ever been that they were of markedly royal blood; their name means sons of heroes, and is apparently derived from the obsolete term of Mseatse itself. It is supposed, therefore, that they are descendants of the royal Pict clan, intermarried with the McAlpine line until equally of their own blood alsoAll of the Scotch kings are descended from Kenneth, as are also all of the English kings from James I. The King of England counts among his progenitors the Pict and early Scotch Kings. These far-away kings, however, are as truly the fore-fathers of those who bear the Matheson or Mattison name as they are of England's royal family. A Scotch clan consists of tribesmen who intermarry until the humblest of the clan has of the blood of the head of the clan who gave it its name. Clan pride was great. The old Scotch traced their kinship to fourteenth coiisins, or five hundred years to a common ancestor. The head of each clan was called The ]IcIntosli, The McDonald, The Matheson, etc. His word was law, above the king's own. When the chief would summon his men to war, he took a cross of wood, marked it with fire and blood, then gave it to the first man he met, naming a day and the field of rendezvous. He who received the fiery cross fled as though for his life, until he reached another one of the tribe, to whom he gave the cross and message. The largest clan in this way was assembled in two days' time. In time a large clan divided into sub-clans, who never, however, forgot their common tie. The royal clan of IMcAlpine divided into the sub-clans of McGregor, Grant, ]IcKinnon, McNab, McPhie, McOuarie, ]IcAuley and Matheson. They had many customs in common, and all wore in battle or parade the clan badge, a sprig of pine or Scotch fir. Scott in his Lady of the Lake, that has for its motif the pride and power of the McAlpine chief, put this song of the pine in the mouth of a hundred clansmen, as they sing of their chief, Rhoderic Dhu. Hail to the chief who in triumph advances ! Honored and blest be the ever-green Pine ! Long may the tree, in his banner tliat glances.
- 35. Flourish, the shelter and grace of our line ! Heaven send it happy dew. Earth lend it sap anew, Gayly to bourgeon and broadiy to grow, While every Highland glen Sends our shout back again, ' Roderigh Vich Alpine dhu, ho! ieroe ! '
- 36. Sbe (Breene Jfainil^ 271 Ours is no sapling, cliance-sown by tiie tount.iin. Blooming at Beltane, in winter to fade : When the whirlwind has stripped every leaf on the mountain. The more shall Clan Alpine exult in her shade. Moored in the rifted rock, Proof to the tempest's shock. Firmer he roots him the ruder it blows ; Mentieth arid Breadalbane, then. Echo his praise again, ' Roderigh Vich Alpine dliu, ho ! ieroe ! ' * The seat of the Matheson clan is supposed to have been in the Highlands of Rosshire, in Northern Scotland. They had their own clan music that their bag-pipers played, and they rushed into battle with a wild cathghainn or battle cry, '■'■ Dail acha'n da t/iear tiai f'' — The field between two hills ! This was their clan rendezvous, a valley plain where they always assembled to muster for warfare, for every ]Iatheson believed that illluck would attend them did they muster elsewhere. They had their own tartan plaid, that only a Matheson might wear, and the men wore buskins, or short boots of deer-skin after a pattern of their own. For hundreds of years they had their great clan gatherings, a feature of which was the dancing of the clansmen. Expert dancers not only could do the spring, as the Scotch say, in reel, fling and strathspery, but could wind through the intricate step of Kemshoal, Kemkossy, Lamatrast, Kenbradenoch and forgladlu. After the Reformation the clan embraced the most straight-laced Presbyterianism. Under James I., about 1608, there was a great emigration of the Scotch to Ulster, in the northern part of Ireland. Some of that branch of the family in which those who read this sketch are interested, were among the number. It was two grandsons of these emigrants that came to New England in the early days, and whose descendants are now so numerous. One of these came to R. I., probably about 1668. This was Henry Matteson, born in Ireland, Oct.. 1646. He married Hannah Parsons, and became the head of a large line that has largely intermarried with the house of Greene. A large part of the Josiah ^Matteson line adopted the spelling and pronunciation of ]Mathewson. President James ]Iadison was of Scotch-Irish ancestry also. At the time of his election, a part of the family, because he was the most eminent of the blood,
- 37. adopted his form of the name in compliment to him. But Matteson, Mathewson or jMadison, all are of the same general descent. There was a James ilatteson who came to R. I. before 1650. His de* Black Eoderiek. descendant of Alpine, hurrah !
- 38. 272 tlbe (Breene family scendants are yet about Newport, and southern R. I. His line was easily enough traced, but as it has not intermarried either with the Henry Matteson branch, or the Greene's, it is not given. He is supposed to have been the uncle of Henry Matteson. Many have asked for a genealogical table of the Mattesons. I will give the men of the family for the first three generations, and sometimes beyond that. Almost any one of the Mattesons can trace their ancestry back to Revolutionary times, so that this will be ample for them to complete their l^edigree. Henry, the father, born in 1646 in Ireland. Married Hannah, daughter of Hugh Parsons and his wife Elizabeth, widow of Wm. English. Henry died in 1690. The)- had a daughter, Hannah, and six sons, Henry, Thomas, Francis, Joseph, Josiah and Hezekiah. CAPT. HENRY MATTESON=, b. 1670; m. Judith Weaver in 1693. He had 10 children, 6 of them sons. Two of his children m. Waites, 3 sons and 3 grandsons m. Sweets. Line much crossed with the Greenes. Henry^, m. Ruth Sweet, 1720. His line was continued by Henry, Ruth, who m. John Greene', (see Chapter XV.), Caleb, Dinah, who m. her cousin Jonathan ; Nathan, who m. Wealthy John Greene's step-daughter Freelove Bowen; Thankful, who ni. William Waite, and Jonathan, whose 1st wife was Alice -Sweet, and 2d Meriba Waite. By his last wife this Jonathan had Jonathan. Jr., whose line is traced with the Howards, in Chapter XXVIII. John', b. 1706 ; 111. Elizabeth Hunt. They had Thomas, who m. Hester ArnoKl ; John, Henry, whom. Dinah Spink in 1760; and probably Joseph, who m. Catherine Hatheway. J.MES', b. 1712. He ra. Enfield Greene. See Chapter XV. Their son, Uri:ih. m. Mrs. Waite Sweet. Ebenezer', b. 171S; m. Susannah Comstock. Their son, Edmund', m. (i) Susannah Matteson, of the Thomas Matteson^ line ; and (2) Virtue Greene. See Chapter XX. This Edmund' had John, Rowland and Ezra, and by the last wife, Stukeley. Another son of Ebenezer* was Ebenezer', who m. Sarah or Susan Fish, or both. Hezeki.h', m. Mary Sweet, 1639. He had 7 d., 4 sons. George', was the father of Reuben, b. 1780. Reuben m. Barbara Bowen. Thomas was b. 1762, no other record. Jeremiah, b. Dec. 31, 1743, m. Ruth Sweet at ig. He had Caleb, Jesse and
- 39. Jeremiah ; Solomon, who m. Rosanna, of Josiah Matteson line ; and Reuben, b. M.ay g, 1767, who ni. Sarah Matteson. It will be seen there were two Reuben^s, cousins to each other ; Reuben* of George*. Hezekiah', Capt. Henry^, b. 17S0, m. Esther Burleson. They had Archibald, John, Reuben, James, and 3 dau. The oldest of the sons, Henry', m. May Angelyn Rouse, and had Walter H., who m. Eliza J. Hope, .ind has Minnie Angelyn and Susie Elizabeth. THOMAS MATTESON^ Probably the second son, as he was m. Nov. 14, 1695, to Martha Shippee. They had 7 or 8 children, 3 of them sons. Thomas Matteson'-'. b. 1703. He and his sister Mercy, married brother and sister. His wife was Susannah, the daughter of Frances, and granddaughter of John Briggs. Her mother was Susannah, daughter of John and Susannah Griffin-Spencer, and granddaughter of William Spencer, the emigrant. The first 3 sons are by her. The second wife's name is not known. His 5 daughters T do not give. David Matteson'. b. March 26. 1726. Richard Matteson', b. Sept, 22. 1728. Father of Susannah, whom, her second cousin, Edmund* of Eben', Freelove and Richard, Jr,, whom. Mary Spencer in 1775. Jonathan Matteson', b. June l6, 1730. He had Josiah and two dau, Solomon Matteson', b. Oct. 5, I73g. Married 3 times.
- 40. ^be (Breene Jfamtl^ 273 Francis'', (Piob.) born, 1763. Oliver^. Prob. by the second wife. Bom, 17S7. Removed in i8o3 to Otsego Co., N. v., and became the head of a well known family there. By his first wife, Hannah Brounell, he was the father of Celinda (.Mrs. N. Tolls), Anson and Henry. By the second wife. Lydia Draper, he had Catherine (Mrs. W. Toll), Electa (Mrs. Bresee), Andrew P., Clynthia (Mrs. J, Angel). Edward and Martha (Mrs. D. Radley), all heads of families. The last wife of .Soloman' appears to have been Sarah, the dan. of Jeremiah and Hannah (Matteson) Waite. By her he had Joseph, born 1792 ; Thomas, born 1794, (who was the father of Oliver, born 1820), and Sheffield, born 1796. Joseph^, b. 1705. A Revolutionary soldier. His sons were Benjamin, who m. Mary Pierce, and Elias, b. 1746. Henry^, b. 1707. JOSEPH MATTESON-. His first wife was Rachel . By her he had Joseph, b. 1707. His second wife was Martha Greene. He had a large family of children by her, whose line is given in Chapter XX. FRANCIS MATTESON-, b. March 15, 1680; m. Sarah, daughter of Richard and Phebe Nichols, May i, 1700. 10 children, 5 of them sons. Their daughter, Hannah', m. Pasco Whitford, and had George', who m. Dinah Whitford, his cousin. George and Dinah's only child, Esther', m. Joseph Tarbox. Roby Tarbox'' became -Mrs. Spencer, and Amanda Spencer'^ became Mrs. Job Briggs. See Chapter XX. JOHN^, b. 1704, had John', who m. Comfort Weaver, and had son Eleazer. By a second wife, Martha Phillips, of Greene descent, he had Joshua, John, and 4 dan. See Chapter XX. Francis', m. Dinah Tibbetts, 1740. Henry', b. 1712 ; m. Rachel Greene of Nathaniel and Anna Gould, Warwick Greenes. She d. 1740, leaving prob. Rachel, who m. Wm. Richmond. Job', b. about 1714 ; m. twice. He had 4 dan. and 2 sons. Allen', by his first wife, was b. Jan. 20, 1755. Removed to Berlin, N, Y. He was a Revolutionary soldier. His wife was Jermima Johnson. He had David, Job, who m. Rebecca Wilcox ; Ebenezer, who ni. Ro.xanna Greene, and Allen, who m. Lucy Thomas. All of N. Y. Capt. David Matteson^, of above, in. Anna Fuller, descended from Dr. Samuel Fuller, the only physician who came over in the Mayflower. The line came thus : Dr. .Samuel', Robert', Samuel', Abial', Jedutlian',
- 41. Amos*, Daniel', and Anna. They had S children, but only 2 continued the line. David O.*, by second wife, Helen M. Rose, has Martha and Amanda. Job O.* m. Hannah Nichols in 1S48. She was descended from Hon. Thomas Nichols (see Chapter XV) thus: Hon. Thomas', Deputy Governor Benjamin-, John', Jonathan', Capt. John^, George*, and Hannah'. Job O.' and Hannah had Edwin', who m. Alma Shaw, and Albert O.', a farmer and surveyor, who lives on the homestead taken up by his great-grandfather in 17SS. He has many relics, and is keenly interested in genealogy. He married his cousin, Amanda E. Matteson, dau. of David O. They have Allen, Harold, Phyllis and Stephen, Job O. had also a daughter, Eunice', who m, Owen D. Fuller, like herself, descended from Daniel Fuller, the 7th in descent from Dr. Fuller of the Mayflower. They live in West Shelly, N. V., and have Albert, Floyd and Eunice. Joab', (by last wife), m. Deliverance Spink. He had daughters, and sons Ishmael and Titus. Thomas', had Joseph*, who m. Ruth Jones, 1762.
- 42. 274 ^l5e (Brecne family JOSIAH MATTESONl Next to the youngest son of Henry IMatteson, the Emigrant. Named after his mother's people. Born about 1685. He lived for many years in Foster, R. I., but his line are nearly all of West Greenwich. He married Rosanna, daughter of Zerubabel Westcott. [Richard Westcott', Stukeley Westcott, (see Chapter VI), Robert^ ZerubabeP, Rosanna.] He had Nathan, who m. in 1738, David, who m. in 1739, and Josiah, whom, in 1746. He probably had John who m. in 1740, James, whom, in 1749, and possibly William, who m. in 1752. David', Lived in West Greenwicli. R. I. Silas*, m. Patience 1766. Had Rosanna* who m. Solomon* of Capt. Henry' line, and Christopher*, whose son was James McKinsey'. Also James Oliver. Gardiner, Royal, John and Josiah Gifford. David*, b. Oct. 25, 1763. A Revol. Soldier. He m. Dorcas, dau. of Silas Waitc. They had Andrew rind Waite, who moved to Pa. Amos*, moved to Mich. Had David, Joseph, a Chicago capitalist, and daughters. Peleg*, m. Polly James. 13 children. Rebecci m. Calvin Wilco.x. Pliilip« by two wives had 9 children (See chapter XVIII for line of David of these.) Simon* h.-id I child ; Hannah' m. Daniel Lillibredge and had Thurston. Rhoda, Amyand Hannah; Pele.s; Jr.'m. Hannah, dau. of Col. Edward Barber; hischildren are Mary M.. widow of Charles S. Nichols, and mother of Nettie May Nichols, and David Edwin, who m. .-Mice A. Greene, (see Chapter XXI., line of White Hat John), and Phebe C, wife of J. J. Greene. 4 children. Of the other children of Peleg*, Dr. James' line are all dead ; Fanny* and Polly* m. Bradford and Welcome Barber, and had 6 and 7 children respectively, of which Fanny's are all dead ; Albert m, twice, children all de.id. .Andrew* has 2 children, and Charles* is a bachelor. Jeremiah*, m. Sallie Bennett. John, William. Benjamin, George and Jeremiah married. Benoni', m. .Mice, dau. of Col. Edward I?arber. Had Phebe and Dorcas, and Eunice, who m. Reynolds Waite, and had a dau., Mabel E. .. See Chapter XVHI. Josiah^ m. Mercy Nichols, March 5, 1746. She descended from Hon. Thomas Nichols thus : Thomas', Thonla^^ b. 1660, and m. to Mercy Reynolds ; Stephen', m. to Sarah, and Mercy, their daughter, born, 1722. Stukeley*, m. Mapleb Hopkins. Their dau. Sally m. Caleb
- 43. Shippce. Rosanna*, m. Ezekiel Matteson. of Joseph- Line. See Chapter XX. Rachel*, m. Burton Sweet. .See Chapter XXH. Russell*, b. April 18, 1774 : m. Mary Straight. Had beside these given below, Luther, .bel and George. David A.* He had Bradford, David S. and Sarah. Wilbur*, m. Hannah Potter. Took the name of Mathewson, followed by all his descendants. Ezekiel*. Had George. Daniel, John, Charles, Byron, and 4 dau. Syria Wilbur*, m. Anna Eliza Hill, descended from Roger Wiiiiams, the Warwicks. Greenes, Hills. Aliens, Lascelle-Wardwells, and other first families of R. I. He is the proprietor of The Mathewson. Narragansett Pier, R. I. See illustration. Their children are Mrs. Ida B. Benson, Thomas Greene, m. to Celia Madison, (see Chapter XX, line of Martha Greene Matteson), Syria Wilbur Jr., Walter H.. and
- 44. ^be (Brcene Ifamil? 275 Peleg Clarke, who lias Lucius, Albert, Lorenzo and Carrie. Wanton^, who had Horace, father of Jas. and Wanton. John', prob. of Josiah=, m. 1740, had Job, Joshua, Abel and Thomas. James', prob. of Josiah^ m. Hannah Sweet 1749. They had Rufus who m, Lucy Spink and had Thos. who m. Maria James. HEZEKIAH MATTESON^ m. Margaret, daughter of Zerubabel and Jane Westcott. See under heading of Josiah. Abraham'. ^^ his second cousin, Freelove Phillips. See Chapter XX. Sons John, Abraham, Daniel and Thomas. The other sons of Hezekiah jMatteson were Amos, Zerubabel, and Samuel. It is supposed they mostly moved to N. Y. THE LASCELLE-WARDWELL LINE There are no kings or princes to fall back upon in this line, or even lords. Nevertheless it has given to the world President Pierce, Susan B. Anthony and Gen. Nathaniel Greene, which is glory enough for one line. It has furnished progenitors for the Pierce, Wardvvell, Anthony, Waite, Slocum and Hill families. The entire line of Lieut. John Greene is descended from them, through Abigail Wardwell, his wife. I confess the old records are tantalizingly obscure and chopped off. It has taken long and patient study to weld the links together. There may be minor errors, but practically this account is correct. Both lines have been hard to trace because pronounced and written so many different ways. Wardwell is the correct form of the name of the Welsh-English line. It is an old compound word meaning the guard's spring, pointing to the feudal landmark near which the first name- bearer lived. We find the name recorded in English, Welsh, ]Mass. and R. I. records under 24 different spelling, viz.: Wardwell, Woodall, Udall, Warrell, Woddle, Warden, Wordell, Wardall, Werdell. Woddall, Waddall, Wadle, Wadell, Wardel, Wardayle, Werdall, Woddell, Worrall, Udell, Wriddell, Warrall, Wodell, Wadel and Wadall. Lascelle, the other original line, was French. When the name-bearer came to England, pronouncing the name as he did, with his Frenchy slurred consonants, and burry accent on the terminal syllable celle, his English neighbors in despair gave him various names ending in sounds of zell, sell, or sail, [Mitchell's History of Bridgewater.] It became Hazell, Hazeal, La Zelle, La Zalle, Yazell, Youzell. Yousiel,
- 45. Uzzell, Uzel, Uzzall, Uzal, Usal, Usual, Lasell, and Uzzele ; or as Savage in his Genealogical Dictionary of New England says, after enumerating five U-capitaled variations, or any other outlandish name ! The Wardwell line, and Lieut. John Greenebranch of the Wardwell line, adopted Lascelle as a given name, and for seven generations used it and spelled it every possible wild way that could commence with a capital U or Y.
- 46. 2 76 ^be (Breenc J'amil^ About A. D. 1480, one Ithell, of North Wales, married a Miss Pierce. They had a son, Pierce Ithell, whose daughter Mary was m. about 1540, to Richard Woodall, Udall, Woddall, Worrell, or Wardwell, of Warwick, England. One of their sons. Dr. John Wardell, and a grandson, who crossed the ocean in 1594, had much to do with early Virginia settlements. An older son, William, was married by 1565 to Meribe Lascelle, the daughter of a French couple, Gershom and INIeribe Lascelle. Reading between the lines of the records, it is evident that the Frenchman came to England with his wife and family of grown chil dren about 1560 at the first muttering of the storm that finally broke into bloody wrath against the Huguenots, or French Protestants. Gershom had many namesakes for more than a century, and Meribe, her name anglicized into Meriba or Meribah and Meribeth, still has her namesakes scattered over New England. The next two generations of the family intermarrieil with the Slocuins, Kings, Waites and Hills. Their names were so peculiarly odd and Frenchy, that they can almost be traced by that alone. Anteres, another daughter of these Huguenot refugees, married a Pierce. There is more about her line in Chapter XXIV. There was a good deal of restlessness in the blood of these allied families. Before the New England settlement some of the Pierces and Wardwells went to Virginia, where the older generation of the Wardwell's had investments. Some of these then drifted to the Barbadoes, where later we read of one of the Pierces owning many acres of land and 80 slaves. All of the Lascelle- Wardwell line seem to have been Independents in religious matters, and under religious oppression quite ready to cross the sea for conscience's sake. Some of the Pierces were in Plymouth in 1623. And rebelling against Laud's tyranny about a score of the allied families of this line came to Mass. in 1633-5. There were three great-grandsons of Gershom Lascelle and Richard Wardwell among these. Two of them, William^ and Thomas^ were brothers, sons of Lascelle WardwelP. The other was their cousin, William*', son of Gershom Wardwelll The fathers of these men, Lascelle and Gershom, were sons of William^ and Meribe Lascelle the younger, mentioned in a precedingparagraph.
- 47. William, son of Gershom, went to Portsmouth, R. I., and became a Friend. Two of his daughters married Anthonys, one of them, F'^rances, who married John Anthony, became the fore-mother of Susan B. Anthony. Thomas of Boston was the father of SamueP. This Samuel's wife, Sarah Hawkes, in a fit of religious enthusiasm, in order to mortify the flesh, appeared at church one day in the costume that Eve wore in the garden of Eden. The town authorities had her soundly whipped for it. When
- 48. Zbe 6reene JTamiii? 277 the witchcraft excitement broke out in 1692, Sarah Hawkes-Wardwell and her daughter were both arrested as witches. Badly frightened, they said it was Samuel, the husband and father, who had been bewitching people. He denied it, but was hung Sept. 20, 1697, as an impenitent v.-itch and possessor of a familiar spirit. William, of Boston, brother to Thomas, was born in 1610. Came to the colonies in 1633, as Our brother, Edmund Quincey's servant, (Church records.) He married Alice and had 5 children, of whom the second was Uzel (Lascelle), b. April 7, 1639. When the church banished Rev. Mr. Wheelwright for heresy, William, for being too friendly with him had his arms and freeman's privileges taken from him for a time. William died either at Wells or Boston in 1670. One of the entries in the Wells records gravely assigns a pew in the church to him, To sitt in ye sixth of ye men's long seats in consideration that his son Elihu sitt in ye same seat. William of Boston's two sons, Uzel and Elihu Wardwell, both served in King Philip's War, 1675-6, as the Mass. archives show. Uzel, the ancestor of all of Lieut. John Greene's line (of Chapter XV) served under Capt. Nicholas Paige, and the state of Mass. still owes him for his services, 5^, los ($25.00). [Mass. Archives, vol. 68.] Uzel was m. May 3, 1664, when 25, to the young widow of Daniel Ringe, Mary Kinsman-Ringe. They lived at both Bristol and Ipswich, Mass. At the latter place, Abigail, their oldest child, b. Oct. 27, 1665, was married at 19 to Lieut. John Greene of R. I. I shall not attempt to give of the other W^ardwells, except to say that William of R. I. also had a Uzel, born the same year as the Mass. Uzel. He married Grace and their lines are entirely different. I will not attempt to trace in this the Kings, Pierces, Motts or Slocums. One other line needs to be spoken of. Another child of William and Meribe Wardell was Rosanna, who married Waite. They had several children who came to the Colonies, Alelutable, the oldest, who married Richard Hill, of William, and was left a widow soon after coming to the new country ; Richard Waite, born in 1596, Gambiel, b. in 1598, and Thomas, b. 1601. All of these came about the height of the Anti-Laud emigration. One of the sons, Thomas, went to Portsmouth, R. I., in 1639, and from him all the R.
- 49. I. Waites are descended. D. Byron Waite's Waite Genealogy takes up their history, so it need not be given here. There were a number of the Hills came at the same time that Richard Hill and his wife Mehitable did. A nephew of Richard's, Valentine Hill, (of John of William), a wealthy and prominent man of Boston and Dover, Mass., was the head of a line from whom Frances E. Willard, that peerless
- 50. 2 78 ^be (Breene fmm^ soul and apostle of temperance, was seventh in descent. All of the lines of Wealthy John and Usal Greene (Chapter XV, XVI, XVII) can claim blood kin to her — an honor greater than kinship to a queen. Richard, who died in 1639, left two children that concern us, John and Rose (Rosanna), both born in 1613, and who came together to the colonies. John married Frances, and lived at the Great Lotts i. e. Dorchester, Mass. Their oldest son was born about 1638. He married while yet in his teens Mary , and removed to Portsmouth, R. I. Here Jonathan, Jr. was born in 1657, '^° '^ nineteen year old father. Jonathan, Jr. was the father of Patience Hill who married Daniel Pierce. See Chapter XXVI. He was also the father of Caleb, Ebenezer and Thomas, all heads of R. I. Hills, and probably of Capt. John Hill, also. Jonathan Hill's second son, Henry, brother to Jonathan Jr. of above paragraph, was born Jan. 24, 1661. He was the father of Ann Hill, and Susanna Hill, who married the brothers Wealthy John and Usal Greene, Esther Hill who married John Nichols, and IMary Hill who married William Nichols. Rosanna Hill, the emigrant, undoubtedly married Stukeley Westcott. They were both old friends at Great Torrington, England, and nearly the same age. Stukeley's descendants carried the name of Rosanna down for a half-dozen generations. For more than 100 years the name was never found in R. I. records e.xcept in families that sprang from the Westcotts. Stukeley and his wife followed Roger Williams to Providence, 1636. (See Chapter VI.) They had Amos, who m. two Stafford sisters, Jeremiah, who m. Ellen England, the step-daughter of his father's cousin, Hugh Parsons — see Chapter XX — Robert, who m. Catherine , Mercy, who m. Sam. Stafford, and Damaris, who m. Benedict Arnold. All these became heads of prominent families, THE WAITE FAMILY Rognvald, Jarl (earl) of More, was a friend of Jarl Harald Haarfagar JiiVJ* (Harold the beautiful haired). But when Harald in 872 ^*^^fe ^ made himself king of Norway, he put down Rognvald and ''^ * ^ ^ all the other jar Is, with a high hand. One of Jarl Rognvald's sons was Ganger Rolf (Ralph), also called Rollo, and Rolf the Dane. Deprived of his dominion, Rollo entered upon a gigantic scale of roving,
- 51. plundering piracy. Harald coAT-oP-AKMs gxpellcd him. Rollo with his followers, A. D. 876, sailed to France and compelled the king to cede a large territory to him. Here he settled with his followers, becoming the first duke of Normandy. After him in succession came William, Richard and then another Rich
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