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| Instructor |
Dr. Alan Pue,
Johns Hopkins University, Applied Physics Laboratory |
About
This Course |
Because
the Global Positioning System (GPS) and an Inertial Navigation System
(INS) complement each other, it is common practice to integrate the two
systems in applications calling for continuous high accuracy and
reliability. Kalman filtering is the basis for correcting the INS with
GPS measurements of satellite range and range-rate. At the same time,
the INS provides smooth and accurate short-term measurements of
acceleration and velocity that can be used to aid GPS receiver code and
carrier tracking. Together the two systems permit improved navigation
accuracy especially when GPS is degraded or interrupted because of
jamming or interference. Moreover, integration increases the tolerance
of GPS signal tracking to interference noise.
Day 1 includes an intensive overview of the essentials of Kalman
filtering with a focus on the concepts needed for navigation filter
design. Day 1 concludes with the basics of inertial navigation. Day 2
presents a more detailed review of inertial instruments, strapdown
system implementation and the associated error models. These error
models provide the basis for the navigation Kalman filter design, which
is then applied to INS transfer alignment and loosely coupled INS/GPS
integration. Presentation of the navigation mechanization equations,
error equations, and associated Kalman filter are complemented with
simplified analyses of error characteristics and specific examples.
Practical implementation details associated with integration
architecture, measurement processing, timing, receiver track loop design
trades, and Kalman filter design are covered. Day 3 covers tightly
coupled integration and several case studies of both airborne and ground
applications to illustrate current problems and solution techniques. A
discussion of future trends includes deeply coupled integration
techniques and expected technology advances. |
| Prerequisites |
• Familiarity with principles of engineering analysis, including matrix
algebra.
• An understanding of GPS operational principles;
Course 111, Course
122, Course 356, or equivalent experience is recommended.
• Some familiarity with inertial navigation systems is
recommended. |
Who
Should
Attend? |
Engineers, scientists, system analysts, program specialists and others
concerned with the integration of inertial sensors and systems. |
| Course Schedule |
DAY 1
Dr.
Alan Pue |
8:30 -
Introduction to INS/GPS Integration
Advantages of integration
Integration architectures
Example applications
9:45 - Filter Fundamentals
Filtering principles and applications
Vectors and matrices
State-space modeling
11:00 - Kalman Filter Derivation
Least squares estimation
Random process descriptions
Kalman filter derivation
12:00 - Lunch
on your own
1:30 -
Filter Implementation
Filter processing example
Filter tuning
Nonlinear estimation
2:45 -
Inertial Navigation Fundamentals
Vector kinematics
Navigation coordinate systems
Earth relative kinematics
4:00 -
Inertial Navigation Mechanization
Gravity models
Implementation options
Mechanization example
5:00 Day 1 ends
|
DAY 2
Dr.
Pue |
|
8:30 -
Strapdown Inertial Sensor Technologies
Accelerometer Technologies
Ring laser gyro & Fiber optic gyro
MEMS inertial instruments
9:45 - Strapdown Systems
Coning and sculling compensation
Strapdown Processing
INS Survey
11:00 - Navigation System Error Models
Tilt angle definitions
Navigation error dynamics
Simplified error characteristics
12:00 - Lunch on your own
1:30 - System Initialization
INS alignment concepts
Alignment Kalman filter
Air-launched weapon example
2:45 - Loosely-Coupled INS/GPS Design
Measurement processing
Filter design and tuning
Navigation system update
4:00 - INS Aiding of Receiver Signal Tracking
Code and carrier tracking
Track loop design trades and examples
Interference suppression
5:00 - Day 2 ends
|
DAY 3
Dr.
Pue |
|
8:30 - Tightly-Coupled INS/GPS Design
Measurement processing
Filter design
Performance analysis techniques
9:45 - Case Studies: Multisensor Integration
Terrain aiding and use of relative GPS
GPS Interferometer/INS integration
Carrier phase differential GPS integration
11:00 - Future Trends
Deeply coupled integration
GPS system improvements
Technology/cost expectations
12:00 - Course ends |
Materials
You Will Keep |
• A
notebook including all materials presented during the course.
• NavtechGPS CD-ROM containing a variety of GPS references. |
Continuing
Education
Units |
1.5
(15 hours)
|
Attendee
Quotes |
“Two
of the best instructors I have had for a short course. Well prepared.
Well presented. 'Experts' is an inadequate term for how knowledgeable
they are.”
- Stephen Pearcy, Picatinny Arsenal
“Dr. Pue’s expertise is evident. Good intuitive insight into key effects. Good relating concepts to real developments. Good lists of references.”
- Paul Lakomy, JHU/APL
“Good to have instructors who know the material so well... as practitioners.”
- Name withheld
“I work with GPS/INS systems, and this will help me with both development and analysis. The most useful session for me was INS initialization technologies because it relates directly to my work and will have many practical applications.”
- Name withheld
“I do work with the analysis of the accuracy of submarine INS using GPS data. The most useful session for me was ‘Introduction to INS/GPS Integration’ because I am still fairly new in the field and needed the general information to give me an overall understanding.”
- Name withheld
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