Unit 1.

Embedded Global Positioning System; Inertial Navigation System

1a. Identify the principles of navigation systems with at least 80% accuracy.

1a. Identify the principles of navigation systems with at least 80% accuracy Overview
Purpose Terms Navigational Measurements Inertial Navigation Radio Navigation

1a. Identify the principles of navigation systems with at least 80% accuracy Purpose
Navigation is the art and science of conducting an aircraft expeditiously and safely to a specific destination

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Coordinate system (position)
Latitude
+90 60 30
Reference for Latitude Is the equator (0 deg)

0 30 60

Measure North To South

Run East to West

-90

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Coordinate system (position)
Longitude
Reference is the Prime Meridian 0 degrees
Greenwich ,England

Run north to south 180

150 120

90

60

30 0

International Date Line + 180 degrees

Measure East to West

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Latitude stated first in degrees / minutes Followed by Longitude
N 33 58.9 W 98 20.4
180 150 120 90

+90 60 30 0 30 60 -90
60 30 0

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Measuring in degrees
Degrees
Symbol:____ 360 in a complete circle

Minutes
Symbol:___ 60 in one degree
1 cannot exceed 60 61 = 1 1 Tenths of minutes 32 28.1

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Nautical Mile
One Nautical Mile (nm) equals:
1 minute of longitude (only at the equator) 6076.1 ft

It is the primary navigation measurement for distance

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Nautical Mile
Latitude and the nautical mile (nm)
Measurement is constant all the way to the poles One minute of latitude, anywhere, equals one nautical mile

Longitude and the nautical mile (nm)

Measurement is NOT constant One minute of longitude decreases in distance when approaching the poles (converge) One minute of longitude is only equal to 1nm when measured at the equator

1a. Identify the principles of navigation systems with at least 80% accuracy
Example calculating destinations
Plot destination if next destination was 10 Nm north of the aircraft Start Latitude 1Nm = 1 minute (always)

Current position

Selected destination point

STPT 1

Add 10 Nm to current Latitude

N E

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Great Circle Steering
Greatest circle on any sphere is a great circle Great circles divide the earth in two equal halves

Greatest circle are the shortest distance navigating point to point on a sphere

Aircraft navigation computes destinations using great circle steering computations

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Altitude
Measures aircraft elevation
Above sea level (Mean Sea Level:MSL) Above ground level (AGL) Modes of operation dictate which altitude is used or calculated

Always measured in feet

1a. Identify the principles of navigation systems with at least 80% accuracy
Terms
Steerpoints Zulu Time Time-Over-Steerpoints Azimuth steering
Steer-to-indication Steer-from

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Reference planes
N Horizontal Planes: X Y -Used to determine Y Z E

movement in N, S, E and W direction

X Start W Vertical Plane: Z

-Used to determine movement in inertial altitude

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Speed- rate of motion Velocity (ft/sec or Nm/hr)
Includes both speed and direction Horizontal (X and Y axis) Vertical (Z axis)

Acceleration (ft/sec2) change in velocity Ground speed Slant Range Gravity

Force which pulls bodies towards the center of the earth G force represents force of gravity exerted on all objects The higher the g number the more force is exerted

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Attitude The orientation of an aircrafts axis relative to a reference line

Horizon line- Reference that is parallel to earths surface against which pitch and roll is displayed

Normal Axis

Aircraft Axis

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Pitch -Imaginary pivot along lateral axis (wing to wing) -Measures Nose up (+90) and nose down (-90)
Right Wing Down, clockwise, positive roll (+) Normal Axis

Azimuth -Vertical Z axes (yaw) passes through the center of gravity

Left Wing Down, counter clockwise, negative roll (-)

Roll -Imaginary pivot along longitudinal axis (nose to tail). Measures to + 180 deg

Pitch

Roll
Click to activate

Azimuth

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
(Reference is North Pole) Heading Where the nose of the aircraft is pointing along the horizontal reference planes (X & Y); North, South, East or West W(270) Compass 360deg Cardinal Points N = 0deg E = 90deg S= 180deg W = 270deg

N(0)

Magnetic North standard for all Navigation headings (compass) True North (Earths spin axis) standard for Lat/Long (maps)

E(90)

S(180)

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Magnetic Variation
Angular difference between magnetic north and true north Converts true heading to mag heading for use with conventional W(270) aviation Based on present position (incr the further north you fly) Mag/Var is automatically computed within the F-16 navigational computer Its necessary for pilots using magnetic instruments with standard maps (true north) Magnetic North

N(0)

True North

E(90)

S(180)

1a. Identify the principles of navigation systems with at least 80% accuracy
Navigational Measurements
Course The ground track which an aircraft is flying (not heading) Reference is the North pole Drift due to winds (sideslip) N(0)

W(270)

NE

SE

Heading adjusts to maintain a course

E(90)

S(180)

1a. Identify the principles of navigation systems with at least 80% accuracy

Navigational Measurements

Relative Bearing

Angular direction measured from one position to another

90

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

A primary navigation system computes the following:

Velocity (groundspeed not airspeed) Acceleration Attitude Position Inertial Altitude Distance to destination

1a. Identify the principles of navigation systems with at least 80% accuracy

It is a self contained operating system using a stable platform assy Operates independent of the environment System designed to measure movement based on:

Principles of inertia Newtons laws of motion

Objects tends to maintain a state of motion (at rest or in a straight line) unless a force is applied Acceleration is dependent on an objects mass and the force applied to it For every action there is an equal and opposite reaction

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Y Z X

Basic Components

Accelerometers

Primary measuring device Pendulous device: Pendulum, due to inertia, tends to swing away from its
neutral position when movement occurs

Please Wait
Acceleration

Force
10 5 0 15 5 0 10 15 5 0 10 15

Signal Pickoff Device Tells how far the pendulum device has moved The greater the distance, the greater the acceleration

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Mechanical Gyro

Balance maintained by spinning mass Resist lateral movement.

1a. Identify the principles of navigation systems with at least 80% accuracy

Ring Laser Gyro (RLG)

Use lasers traveling in opposite directions within the same ring

Laser traveling in same direction of rotation has a longer distance to travel Laser traveling in opposite direction has a shorter path to travel; the beam and the detector are converging towards each other (shorter distance) Variance in the lasers frequencies is proportional to the amount of rotation

Rotate

Lasers

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Standard INS

Mechanically establishes a stable platform that remains oriented with the earths gravitational field (horizontal axis)

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Gimbals (4 each)

Connected to the airframe serving as a ball & socket joint between the gyros/accelerometers and the aircraft Allow platform to move 360 deg in all directions Operate conjunctly with the gyros keeping a level platform

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Mechanical Gyro

Orient to keep the platform level to the earth at all times Allow the stable platform to operate independently of the environment The leveled platform represents the horizon line

Gyros

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Accelerometers

3 mounted on a stabilized platform Measure aircraft acceleration along each axis X

1 Accelerometer (Vertical axis) Z

2 Accelerometers (Horizontal axis)

1a. Identify the principles of navigation systems with at least 80% accuracy

Ring Laser Gyros

One per axis Determines rotation about 3 axes Output of rotation and acceleration used to determine required information by mathematical equations Does not have mechanical limitations of the Standard INS

Roll Y Pitch

X YAW

Z
Accelerometers

Inertial Navigation

1a. Identify the principles of navigation systems with at least 80% accuracy

Inertial Navigation

Radial Error Rate (RER)

The amount of drift an inertial navigation unit has incurred over a period of time (NM/hour)

Drift The angular tilt of the platform inducing velocity errors This is due to an accumulation of small platform errors over a period of time Observable errors: Heading Position(Lat/Long) Velocity (X,Y, and Z)

RER rate is 1.6 NM/hour

1a. Identify the principles of navigation systems with at least 80% accuracy

Radio Navigation

Local Ground or Airborne system

Once Signal is received aircraft is able to determine: W S

Start

N32*55.9 W98*20.4

1a. Identify the principles of navigation systems with at least 80% accuracy

Radio Navigation

Global positioning system (GPS)

Elements include:

Ground Stations: Located around the world Transmit signals to the satellites Keep the satellite constellation functioning Satellite Network: 24 equally spaced satellites Satellites orbit the earth in 12 hours Each satellite continually transmits: Its location Time marker Orbit data/Almanac data Airborne GPS Receiver: Installed in the aircraft Only receives signals from visible satellites

1a. Identify the principles of navigation systems with at least 80% accuracy

Radio Navigation

Satellite Ranging

The Receiver receives and decode satellite signals Measure time for signal to travel from satellite to receiver Multiply travel time by signal speed = distance to satellite Know the distance to four satellites and precise 3D position can be calculated Calculate speed by measuring movement since last position calculation GPS will calculate and provide the following:

Present position: Latitude & Longitude Altitude Velocity Time

1a. Identify the principles of navigation systems with at least 80% accuracy

Radio Navigation

GPS Receiver tracking sequence:

Receiver searches for satellites and determines which ones are visible Visibility is based on:

User entered predictions of (PVT) Present Position Velocity Time Stored Almanac data (via DTC) Almanac Data (from satellites) Satellites orbit data and health info Allows GPS receiver to know where satellites are: Receiver Position Current date Current time Continually updated by satellites

1a. Identify the principles of navigation systems with at least 80% accuracy

Radio Navigation

GPS Receiver tracking sequence:

If Almanac data is Not available or poor PVT predictions entered:

Receiver must search the sky for satellites (up to 90minutes) Receiver locks onto any satellite in view Downloads new almanac data Initializes Tracking Sequence

1a. Identify the principles of navigation systems with at least 80% accuracy

Summary

Purpose of Navigation Terms Navigational Measurements Inertial Navigation Radio Navigation