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| Instructors |
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 jamming noise.
Day 1 is an intensive overview of the essentials of Kalman filtering with a focus on the concepts needed for navigation filter design. Days 2 and 3 present both the fundamentals of inertial navigation with GPS as well as the advanced concepts needed to understand and to design an integrated system. Derivations 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. Several case studies of both airborne and ground applications are discussed to illustrate current problems and solution techniques. |
| 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 - Kalman Filter
System Integration
Integration with complementary filtering
GPS/inertial, GPS only, radar tracking, orbit & attitude determination integration examples
State-space modeling
Simplified KF description
9:45 - The Kalman Filter
Simplified algorithm derivation
Bias, random walk, and Markov examples
Off-line error analysis
Simplified algorithm derivation
11:00 - Alternate Kalman Algorithms
State augmentation
Sequential processing
Known control inputs
Other Kalman forms, generalized KF
12:00 - Lunch
on your own
1:30 -
Linearization in Kalman Filters
Taylor series vs. perturbation
Linearized and extended KF
Application to DME/inertial navigation
2:45 -
Application to GPS Navigation
GPS measurement and error models
GPS/inertial navigation
Stand-alone GPS navigation
4:00 -
Practical Kalman Filter Implementation Issues
Divergence detection & causes
Measurement residual analysis
Suboptimal filter analysis due to mismodeling
5:00 Day 1 ends
|
DAY 2
Dr.
Pue |
|
8:30 - Introduction to INS/GPS Integration
Advantages of integration
Integration architectures
Example applications
9:45 - Inertial Navigation Fundamentals
Navigation coordinate systems
Earth and gravity models
Navigation equations
11:00 - Strapdown Inertial Sensor Technologies
Accelerometer technologies
Ring laser gyro (RLG) & Fiber optic gyro (FOG)
Micro electromechanical systems (MEMS)
12:00 - Lunch on your own
1:30 - Stapdown Systems
Orientation vector
Coning and sculling compensation
Strapdown INS Survey
2:45 - Navigation System Error Models
Sensor error models
Navigation error dynamics
Kalman filter formulation
4:00 - Loosely-Coupled System Design
GPS/INS interface and timing
Measurement processing
Filter tuning and performance
5:00 - Day 2 ends
|
DAY 3
Dr.
Pue |
|
8:30 - INS Aiding of Receiver Signal Tracking
Code and carrier tracking
Track loop design trades and examples
Interference suppression
9:45 - Tightly-Coupled System Design
GPS/INS interface
Measurement modeling
Filter design
11:00 - System Initialization
INS alignment concepts
Alignment Kalman filter
Air-launched weapon examples
12:00 - Lunch on your own
1:30 - Case Studies: Airborne Integrations
INS/GPS integration summary
Weapon delivery applications
INS/GPS Simulation Tools
2:45 - Case Studies: Multisensor Integration
Terrain aiding and use of relative GPS
GPS Interferometer/INS integration
Carrier phase differential GPS integration
4:00 - Future Trends
Deep integration
GPS system improvements
Technology/cost expectations
5:00 - 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 |
1.8
(18 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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