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

2. 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

3. 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
Office Hours
M/W/F 1- 2:30 pm and Tue/Th am
Lecture 1
EE 440 Modern Navigation Systems

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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

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

11. 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

12. 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

13. 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

14. 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

15. 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

16. 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

17. 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

18. 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