EE 570: Location and Navigation: Theory &

Practice

Tuesday 15 Jan 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 1 of 17
Course Outline

• Required Textbook:
 Principles of GNSS, Inertial, and Multisensor
Integrated Navigation Systems, by Paul Groves, Artech
House, 2008.
• Recommended Software:
 MATLAB Student Version
• Lectures:
 Tue/Thur 11am - 12:15pm in CRAMER 123
• Instructors:
 Dr. Stephen Bruder
 Prof. Aly El-Osery

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Course Outline

• Course Description
 This course will cover the basics of terrestrial location and
navigation with an emphasis on practical exposure to the
technology. In particular, the class will collaborate on the
design, integration,
and testing of a UGV
or UAV.

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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: 30%
 Class Participation: 10%

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Course Outline

• Navigation Mathematics (Dr. Bruder)

 Introduction to Navigation
 Coordinate frames
 Kinematics Part II: Chapter 2
of the textbook
 Earth surface and Gravity
 Frame Transformations

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Course Outline

• Navigation Sensors and INS Mechanization (Dr. Bruder

/ Prof. El-Osery)
 Accelerometers
 Gyroscopes Part III: Chapters 4 & 5
of the textbook
 Error Characteristics
 Inertial Navigation Equations

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Course Outline

• INS/GPS Integration (Prof. El-Osery)

 GPS Part III: Chapter 6
 Kalman Filtering Part II: Chapter 3
 Integration Architectures
 System Model Part IV: Chapter 12
 Measurement Model
• System Example (All)

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 EE 570: Location and Navigation: Theory &
Practice
Introduction to Navigation

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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

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Introduction to Navigation:
A Simple Example of Dead Reckoning

• A Dead Reckoning Example:

 At each epoc we
measure x and
y with noise 140
A 2D Dead Reckoning Example

(=1m) Error Free

120
 Then add to the
prior location Y-pos in meters
100

80

60

40

20

0
0 20 40 60 80 100 120 140 160
X-pos in meters

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Introduction to Navigation:
A Simple Example of Dead Reckoning

• A Dead Reckoning Example

 Radial error at each update (in m): 1,000 Monte Carlo Runs
o 1.49, A 2D Dead Reckoning Example
140 A 2D Dead Reckoning Example

1.97, 140
 =3.68
Error Free
Error Free
 =3.42  =3.94
r

2.46, 120
120
r r

 =3.16
2.83, r

3.16,  =2.83
100
100
r

3.42,  =4.18 r
80
Y-pos in meters

3.68, 80
Y-pos in meters

 =2.46
3.94, 60
r

60

4.18  =1.79 r
40
40

r=1.49
20
20

0
-200 0 20 40 60 80 100 120 140 160 180
-20 0 20 40 60 X-pos in meters
80 100 120 140 160 180
X-pos in meters

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Introduction to Navigation:
Navigation Examples

• DARPA Grand Challenge

 PVA needed in terms of a local
datum
o Local coordinate system

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Introduction to Navigation:
Navigation Examples

• Aircraft or UAV
 Location relative to the earth
o Earth Centered Earth Fixed coord. Sys.

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Introduction to Navigation:
Navigation Examples

• Spacecraft
 Relative to inertial
or space coords
o Earth Centered Inertial
coordinate system

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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

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Introduction to Navigation:
Navigation Sensors/Instruments

• Navigation Sensors: Past, Current, and Future

Star Tracker
Sextant

Lat/Lon MEMS Inertial Sensors

Compass
GPS Re
ceiver

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