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EE 495 Modern Navigation Systems Wednesday, January 8 EE 495 Modern Navigation Systems Slide 1 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems Course Web Page: mercury.pr.erau.edu/~bruders mercury.pr.erau.edu/~bruders Blackboard Blackboard Required Textbook: Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems 2E, by Paul Groves, Artech House. Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems Recommended Software: MATLAB Student Version and Simulink Slide 2 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems Lectures: When: M/W/F 3:00 p.m. – 4:00 p.m. Where: King Eng. Rm 117 Instructor: Dr. Stephen Bruder Dr. Stephen Bruder Office: King Eng. Center Rm. 108 Email: bruders@erau.edu Slide 3 of 18
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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 and present a final project o Subject to instructor approval Slide 4 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems 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. Slide 5 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems Grading Scheme Homework Assignments: 30% Three mini-projects: 10% each Final Project and report: 35% Class Participation: 5% Slide 6 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems Navigation Mathematics Introduction to Navigation Coordinate frames Kinematics Earth surface and Gravity Frame Transformations Chapter 2 of the textbook Slide 7 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems Navigation Sensors and INS Mechanization Accelerometers Gyroscopes Error Characteristics Inertial Navigation Equations Course self-alignment Chapters 4 & 5 of the textbook Slide 8 of 18
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Course Outline Wednesday, January 8 EE 495 Modern Navigation Systems INS/GPS Integration GPS Kalman Filtering Integration Architectures System Model Measurement Model Final Project Presentations (All) Chapter 8 Chapter 3 Chapters 14 & 15 Slide 9 of 18
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EE 495 Modern Navigation Systems Introduction to Navigation Wednesday, January 8 EE 495 Modern Navigation Systems Slide 10 of 18
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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 o Often described by Position, Velocity, and Attitude (PVA) This can be accomplished via “position fixing” or “dead reckoning” o Position Fixing - Directly measuring location o 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 Wednesday, January 8 EE 495 Modern Navigation Systems Slide 11 of 18
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Introduction to Navigation: A Simple Example of Dead Reckoning A Dead Reckoning Example:Example At each epoc we measure x and y with noise ( =1m) Then add to the prior location Wednesday, January 8 EE 495 Modern Navigation Systems Slide 12 of 18
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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 r =1.49 r =1.79 r =2.46 r =2.83 r =3.16 r =3.42 r =3.68 r =3.94 r =4.18 1,000 Monte Carlo Runs Wednesday, January 8 EE 495 Modern Navigation Systems Slide 13 of 18
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Introduction to Navigation: Navigation Examples DARPA Grand Challenge PVA needed in terms of a local datum o Local coordinate system Wednesday, January 8 EE 495 Modern Navigation Systems Slide 14 of 18
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Introduction to Navigation: Navigation Examples Aircraft or high-altitude UAV Location relative to the earth o Earth Centered Earth Fixed coord. Sys. Wednesday, January 8 EE 495 Modern Navigation Systems Slide 15 of 18
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Introduction to Navigation: Navigation Examples Spacecraft Relative to inertial or space coords o Earth Centered Inertial coordinate system Wednesday, January 8 EE 495 Modern Navigation Systems Slide 16 of 18
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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 Wednesday, January 8 EE 495 Modern Navigation Systems Slide 17 of 18
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Introduction to Navigation: Navigation Sensors/Instruments Navigation Sensors: Past, Current, and Future Sextant Compass Lat/Lon GPS Receiver Star Tracker MEMS Inertial Sensors Wednesday, January 8 EE 495 Modern Navigation Systems Slide 18 of 18
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