ee 495 modern navigation systems wednesday, january 8 ee 495 modern navigation systems slide 1 of 18

EE 495 Modern Navigation Systems

Wednesday, January 8 EE 495 Modern Navigation Systems Slide 1 of 18

http://www.erau.edu/


Course Outline

Wednesday, January 8

• Course Web Page: mercury.pr.erau.edu/~bruders Blackboard

• Required Textbook: Principles of GNSS, Inertial, and Multisensor

Integrated Navigation Systems 2E, by Paul Groves, Artech House.

• Recommended Software: MATLAB Student Version and Simulink

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http://mercury.pr.erau.edu/~bruders/

https://ernie.erau.edu/portal/page/portal/ERNIE

http://www.artechhouse.com/Main/Books/Principles-of-GNSS-Inertial-and-Multisensor-Integr-2082.aspx





Course Outline

Wednesday, January 8

• Lectures: When: M/W/F 3:00 p.m. – 4:00 p.m. Where: King Eng. Rm 117

• Instructor: Dr. Stephen Bruder Office: King Eng. Center Rm. 108 Email: [email protected]

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http://mercury.pr.erau.edu/~bruders/


Course Outline

Wednesday, January 8 EE 495 Modern Navigation Systems

• Course Description This course will cover the basics of terrestrial location and

navigation with an emphasis on practical exposure to the technology.

Students will develop andpresent a final projecto Subject to instructor

approval

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Course Outline


• Course Description Key components of the course include:

o GPS fundamentals; o an overview of inertial navigation technology; o principles of strapdown inertial navigation systems including

coordinate frames, attitude representation, and mechanization in various coordinate frames;

o sensor technology covering a wide range of accelerometers and gyroscopes;

o sensor specifications and characterization; o testing and calibration approaches; o effects of inertial sensor error and compensation methods; and o introduction to unmanned systems; analysis of real sensor data and

simulation and modeling using MATLAB/Simulink.

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Course Outline


• Grading Scheme Homework Assignments: 30% Three mini-projects: 10% each Final Project and report: 35% Class Participation: 5%

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Course Outline


• Navigation Mathematics Introduction to Navigation Coordinate frames Kinematics Earth surface and Gravity Frame Transformations

Chapter 2 of the textbook

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Course Outline


• Navigation Sensors and INS Mechanization Accelerometers Gyroscopes Error Characteristics Inertial Navigation Equations Course self-alignment

Chapters 4 & 5 of the textbook

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Course Outline


• INS/GPS Integration GPS Kalman Filtering Integration Architectures System Model Measurement Model

• Final Project Presentations (All)

Chapter 8

Chapter 3

Chapters 14 & 15

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Introduction to Navigation



Introduction to Navigation: What is Location and/or Navigation?

• What is Navigation? The process of determining a vehicle’s “course” by

geometry, astronomy, radio signals, or other meanso Often described by Position, Velocity, and Attitude (PVA)

This can be accomplished via “position fixing” or “dead reckoning”o Position Fixing - Directly measuring locationo Dead Reckoning - Measures changes in position and/or

attitude– Need to be initialized and then “integrate” the ’s– Inertial sensors measure the ’s without requiring an external

reference



Introduction to Navigation: A Simple Example of Dead Reckoning

• A Dead Reckoning Example: At each epoc we

measure x andy with noise (=1m)

Then add to theprior location

0 20 40 60 80 100 120 140 1600

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A 2D Dead Reckoning Example

Error Free

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Error Free



Introduction to Navigation: A Simple Example of Dead Reckoning

• A Dead Reckoning Example Radial error at each update (in m):

o 1.49, 1.97,2.46,2.83,3.16, 3.42,3.68, 3.94, 4.18

-20 0 20 40 60 80 100 120 140 160 1800

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r=1.49

r=1.79

r=2.46

r=2.83

r=3.16

r=3.42r=3.68

r=3.94

r=4.18

1,000 Monte Carlo Runs



Introduction to Navigation: Navigation Examples

• DARPA Grand Challenge PVA needed in terms of a local

datumo Local coordinate system




• Aircraft or high-altitude UAV Location relative to the earth

o Earth Centered Earth Fixed coord. Sys.




• Spacecraft Relative to inertial

or space coordso Earth Centered Inertial

coordinate system



Introduction to Navigation: Navigation Concepts

• There exists a wide variety of information sources (i.e. sensors) Inertial, Doppler, GPS, radar, compass, cameras, odometry,

barometric, …• How should I describe my location?

Position, velocity, and attitude?o Orientation can get a bit tricky!!

• When answering the question of “Where am I?” the wrt must be very clearly defined!!! Lead in to the notion of coordinate systems



Introduction to Navigation: Navigation Sensors/Instruments

• Navigation Sensors: Past, Current, and Future

Sextant

Compass

Lat/Lon

GPS Receiver

Star Tracker

MEMS Inertial Sensors



http://www.marineinsight.com/misc/marine-navigation/what-is-a-sextant/

http://www.garmin.com/en-US

http://www.spacemicro.com/Comtech_Areoastro/CAA_div.htm

http://www.intersense.com/

ee 495 modern navigation systems wednesday, january 8 ee 495 modern navigation systems slide 1 of 18

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