EE 440 Modern Navigation Systems Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Course Web Page: mercury.pr.erau.edu/~bruders CANVAS Required Textbook: Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems 2E, by Paul Groves, Artech House. Recommended Software: MATLAB / Simulink and Mathematica (optional) Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Lectures: When: M/W/F 11:00 a.m. – 11:50 a.m. Where: King Eng. Rm 117 Instructor: Dr. Stephen Bruder Office: King Eng. Center Rm. 108 Email: bruders@erau.edu Office Hours M/W/F 1- 2:30 pm and Tue/Th 8 - 9 am Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline 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 and present a final project Subject to instructor approval Project topics MUST be defined prior to March break!!! Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Course Outcomes (with ABET Criterion 3 Outcome indicated): Develop an understanding of GPS fundamentals (a, h, j) Provide an overview of inertial navigation technology (g) Derive the principles of strapdown inertial navigation systems including coordinate frames, attitude representation, and mechanization in various coordinate frames (a,e) Exposure to sensor technology covering a wide range of accelerometers and gyroscopes (e, g, h, j) Analyze sensor specifications and characterization; testing and calibration approaches (b, c, e, k) Model the effects of inertial sensor error and compensation methods. (a, b, k) Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Grading Scheme Homework Assignments: 30% Weekly homework assignments Two midterm-exams/mini-projects: 30% 15% each Final Project and report: 35% Individual projects will include a 15 min presentation and a final report Class Participation: 5% Attendance and in-class Q&A Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Navigation Mathematics Introduction to Navigation Coordinate frames Kinematics Earth surface and Gravity Frame Transformations Chapter 2 of the textbook Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems Course Outline Navigation Sensors and INS Mechanization Accelerometers Gyroscopes Error Characteristics Inertial Navigation Equations Course self-alignment Chapters 4 & 5 of the textbook Lecture 1 EE 440 Modern Navigation Systems

EE 440 Modern Navigation Systems 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 Lecture 1 EE 440 Modern Navigation Systems

EE 495 Modern Navigation Systems Introduction to Navigation Lecture 1 EE 440 Modern Navigation Systems

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 means Often described by Position, Velocity, and Attitude (PVA) This can be accomplished via “position fixing” or “dead reckoning” Position Fixing - Directly measure location 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 Give a 2D example of position fixing: Ranging Bearing Ranging & bearing Give a 3D example of position fixing: Ranging (e.g. GPS) Give a 2D example of Dead Reckoning - Starting position and then using velocity and time Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: A Simple Example of Dead Reckoning A Dead Reckoning Example: At each epoc we measure x and y with noise (=1m) Then add to the prior location Repeat the experiment 1,000 times Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: A Simple Example of Dead Reckoning A Dead Reckoning Example Radial error at each update (in m): 1.49, 1.97, 2.46, 2.83, 3.16, 3.42, 3.68, 3.94, 4.18 1,000 Monte Carlo Runs r=3.68 r=3.42 r=3.94 r=3.16 r=2.83 r=4.18 r=2.46 Give a 2D example of position fixing: Ranging Bearing Ranging & bearing Give a 3D example of position fixing: Ranging (e.g. GPS) Give a 2D example of Dead Reckoning - Starting position and then using velocity and time r=1.79 r=1.49 Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: Navigation Examples DARPA Grand Challenge PVA needed in terms of a local datum Local coordinate system Local datum – Say the starting and ending points of the race In answering the question of “Where am I” the wrt must be very clearly defined!!! Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: Navigation Examples Aircraft or high-altitude UAV Location relative to the earth Earth Centered Earth Fixed coord. Sys. Local datum – Say the starting and ending points of the race In answering the question of “Where am I” the wrt must be very clearly defined!!! Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: Navigation Examples Spacecraft Location relative to inertial or space coords Earth Centered Inertial coordinate system Local datum – Say the starting and ending points of the race In answering the question of “Where am I” the wrt must be very clearly defined!!! Lecture 1 EE 440 Modern Navigation Systems

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? 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 Pop Quiz: Where is the highest point on the Earth? - Ans: In the South American Andes (due to the bulge of the earth about the equator) - Important to explain what I mean by height i.e. wrt??? Lecture 1 EE 440 Modern Navigation Systems

Introduction to Navigation: Navigation Sensors/Instruments Navigation Sensors: Past, Current, and Future Star Tracker Sextant Lat/Lon MEMS Inertial Sensors Compass GPS Receiver Lecture 1 EE 440 Modern Navigation Systems