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8:30 -
12:00, Tuesday, String 2
240A:
Tightly Coupled INS/GPS
Integration
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For technical professionals seeking an
introduction to INS/GPS integration using the tightly coupled approach.
Basic Kalman filter theory is covered and applied to GPS aiding of an
inertial navigation system. The benefits of GPS receiver aiding by the
INS in dynamic and interference environments are derived and analyzed. |
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Dr.
Alan Pue
John
Hopkins University/APL |
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Kalman Filter Fundamentals
• Kalman filter algorithm
• Filter processing example
• INS application |
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Tightly Coupled INS/GPS Design
• Measurement processing
• Filter design and tuning
• Navigation system update |
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INS
Aiding of GPS Receiver Tracking
• Code and carrier tracking
• Track loop design trades and examples
• Interference suppression |
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Level:
Basic matrix theory and general knowledge of GPS. This course is intended
to prepare you for Course 240B which requires an understanding of Kalman
filtering and INS integration concepts as prerequisites.
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1:30
- 5:00, Tuesday, String 2
240B:
Ultra-Tight, Deep Integration of GPS/INS
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Using a waveform estimation-theoretic
approach, this course develops architectures approaching theoretical
limits for the GPS signal-in-space. Fundamental observation/dynamical
models are described, leading to practical integrations and
augmentations for high dynamics, signal blockages and jamming. Modeling,
simulation and case study approaches are emphasized. |
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Dr. Jim
Sennott
Telenergy,
Inc |
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Non- Linear Estimation Perspective
• Non-linear waveform estimation and the MAP estimator
• Estimation bounds
• GPS waveform mapping and correlator observation model
• GPS line-of-sight dynamics innovation model |
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Extended Kalman Filter Mechanizations
• Integration hierarchy
• Sub-components and interfaces
• Filter formulations
• Latency and clock effects
• Jamming adaptation |
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Case Studies
• Modeling and simulation techniques
• Standalone high-accuracy applications
• High-accuracy tactical applications, including landing guidance
• Anti-jamming applications |
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Level:
Working
knowledge of Kalman, GPS signal tracking, INS strapdown.
This is an advanced course. Course 240A will help you brush up your
Kalman. |
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