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8:30
- 12:00, Monday, String 5
510A:
Integration of GPS with Inertial Navigation Systems I
— Kalman Basics
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for this tutorial ~
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GPS and INS
complement each other to achieve continuous high accuracy and
reliability. GPS provides precise position and velocity fixes at
discrete points in time, while the INS provides precise
interpolation between fixes. 510A & B lay the groundwork for
understanding current integration methods, and lead to tutorials
510C & D. |
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Dr.
Alan Pue
Johns Hopkins University,
Applied Physics Laboratory |
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Introduction to INS/GPS Integration
• Advantages of
integration
• Integration architectures
• Example applications
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Filter Fundamentals
• Filtering principles and
applications
• Vectors and matrices
• State-space modeling |
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Kalman Filter
Derivation
•
Least squares estimation
• Random process descriptions
• Kalman filter derivation |
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Level:
Familiarity with INS and GPS operation, as well as the fundamentals of matrix theory is assumed. Proceed to 510B-D to complete the series. |
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1:30
- 5:00, Monday, String 5
510B:
Integration of GPS with Inertial Navigation Systems II
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for this tutorial ~
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The sessions in
this half-day tie together the Kalman filtering concepts covered in
the morning with their basic uses in GPS/INS integrations. |
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Dr.
Pue |
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Filter Implementation
• Filter processing example
• Filter tuning
• Nonlinear estimation |
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Inertial Navigation
Fundamentals
• Navigation coordinate systems
• Earth relative kinematics
• Gravity models
• Mechanization example |
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Strapdown Inertial
Sensor Technologies
• Accelerometer Technologies
• Ring laser gyro & Fiber optic gyro
• MEMS inertial instruments
• INS Survey |
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Level:
Familiarity with integration concepts as taught in 510A,
as well as the fundamentals of Kalman filtering and matrix theory,
is assumed. Proceed to 510C-D to complete the series. |
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8:30 - 12:00, Tuesday, String 5
510C: Integration of GPS with Inertial Navigation Systems III
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~
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tutorials page |
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In 510C & D,
current approaches in GPS/INS system design will be discussed.
Practical implementation techniques and emerging application areas
are covered. |
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Dr. Pue |
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Navigation System
Error Models
• Tilt angle definitions
• Navigation error dynamics
• Simplified error characteristics |
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Loosely-Coupled
INS/GPS Design
• Measurement processing
• Filter design and tuning
• Navigation system update |
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INS Aiding of Receiver
Signal Tracking
• Code and carrier tracking
• Track loop design trades and
examples
• Interference suppression |
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Level:
Familiarity with INS and GPS technology is assumed,
as well as knowledge of matrix theory. 510A&B or equivalent
experience required. (Proceed to 510D to complete the series.) |
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1:30
- 5:00, Tuesday, String 5
510D:
Integration of GPS with Inertial Navigation Systems IV
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for this tutorial ~
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Case studies,
current activities in the field, and new areas of research are
emphasized in this half-day. |
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Dr.
Pue |
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Tightly-Coupled
INS/GPS Design
• Measurement processing
• Filter design
• Performance analysis techniques |
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Case Studies:
Multi-Sensor Integration
• Terrain aiding and use of relative
GPS
• GPS Interferometer/INS integration
• Carrier phase differential GPS
integration |
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Future Trends
• Deeply coupled integration
• GPS system improvements
• Technology/cost expectations |
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Level:
Familiarity with INS and GPS technology is assumed, as well as knowledge of integration techniques. 510A-C or equivalent experience required. |
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