This 2.5-day course (with the optional Friday afternoon session added upon request for on-site courses) concentrates on the software algorithms and practical implemenations for aiding an inertial navigation system with a GPS receiver.
Engineers, scientists, system analysts, program specialists and others concerned with the integration of inertial sensors and systems.
"Dr. Pue is one of the best instructors I have had for a short course. Well prepared. Well presented. ‘Expert’ is an inadequate term for how knowledgeable he is."
"Dr. Pue’s expertise is evident. Good intuitive insight into key effects. Good relating concepts to real developments. Good lists of references."
"Good to have instructors who know the material so well... as practitioners."
"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."
"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."
Day 1, Morning
Introduction to INS/GPS Integration
● Advantages of integration
● Integration architectures
● Example applications
Filter Fundamentals
● Filtering principles and applications
● Vectors and matrices
● State-space modeling
Kalman Filter Derivation
● Least squares estimation
● Random process descriptions
● Kalman filter derivation
Day 1, Afternoon
Filter Implementation
● Filter processing example
● Filter tuning
● Non-linear estimation
Inertial Navigation Fundamentals
● Vector kinematics
● Navigation coordinate systems
● Earth relative kinematics
Inertial Navigation Mechanization
● Gravity models
● Implementation options
● Mechanization example
Day 2, Morning
Strapdown Inertial Sensor Technologies
● Accelerometer technologies
● Ring laser gyro & fiber optic gyro
● MEMS inertial instruments
Strapdown Systems
● Coning and sculling compensation
● Strapdown processing
● INS Survey
Navigation System Error Models
● Tilt angle definitions
● Navigation error dynamics
● Simplified error characteristics
Day 2, Afternoon
System Initialization
● INS alignment concepts
● Alignment Kalman filter
● Air-launched weapon example
Loosely-Coupled INS/GPS Design
● Measurement processing
● Filter design and tuning
● Navigation system update
INS Aiding of Receiver Signal Tracking
● Code and carrier tracking
● Track loop design trades and examples
● Interference suppression
Day 3, Morning
Tightly-Coupled INS/GPS Design
● Measurement processing
● Filter design
● Performance analysis techniques
Case Studies: Multisensor Integration
● Terrain aiding and use of relative GPS
● GPS interferometer/INS integration
● Carrier phase differential GPS integration
Future Trends
● Deeply coupled integration
● GPS system improvements
● Technology/cost expectations
Day 3, Afternoon
Ultra-Tight, Deep Integration of GPS/INS
(Option Session Taught By Dr. James Sennott)
Non-Linear Estimation Perspective
● Nonlinear waveform estimation and the MAP estimator
● Estimation bounds
● GPS waveform mapping and correlator observation model
● GPS line-of-sight dynamics innovations model
Extended Kalman Filter Mechanizations
● Integration hierarchy
● Sub-components and interfaces
● Filter formulations
● Latency and clock effects
● Jamming adaptation
Case Studies
● Modeling and simulation techniques
● Stand-alone high accuracy applications
● High accuracy tactical applications, including landing guidance
● Anti-jamming applications