Course Goal
(1) The students are expected to understand basic concepts, requirements and applications of modern navigation technologies.
(2)It is required for students to comprehend mathematical representations of navigational parameters and understand basic methods to get navigation solutions, such as dead reckoning, intersection positioning and feature matching.
(3)The students would acquaint themselves with a systemic understanding of basic working principles and characteristics of inertial navigation, satellite navigation and integrated navigation, establishing a foundation for further study.
(4)The course aims to encourage the students to follow the recent development of navigation technology, stimulate their interest in learning.
Syllabus
Chapter1 Basic Concepts of Navigation——Demand-pull and technology-push
1.1 Modern Navigation and Application
1.1.1 What is navigation?
1.1.2 What is modern navigation?
1.1.3 Applications of Modern Navigation
1.2 Classification of Positioning Techniques and Methods of Navigation
1.2.1 Dead Reckoning
1.2.2 Intersection Positioning
1.2.3 Feature Matching or Database Matching
1.3 Elements of a Navigation System and Application Requirement Analysis
1.3.1 Elements of a Navigation System
1.3.2 Application Requirement Analysis for Military and Civil Navigation
Chapter2 Coordinate Frames and Navigational Parameters——Mathematical
Representations of Navigational Parameters
2.1 Location, Position, Map and Reference Frames
2.1.1 Location, Position and Map
2.1.2 Absolute and Relative Reference Frames
2.2 Commonly Used Coordinate Frames for Navigation
2.2.1 Earth-Centered Inertial Frame (ECI)
2.2.2 Earth-Centered Earth-Fixed Frame (ECEF)
2.2.3 Local Navigation Frame
2.2.4 Tangent Plane Frame
2.2.5 Body Frame
2.3 Mathematical Representations of Linear Motion Parameters in Coordinate Frames
2.3.1 Representations of Position in Space Rectangular Coordinates
2.3.2 Representations of Velocity in Space Rectangular Coordinates
2.3.3 Representations of Acceleration in Space Rectangular Coordinates
2.3.4 Ellipsoid Model of the Earth’s Surface, Latitude Longitude and Altitude
2.4 Mathematical Representations of Coordinate Transformation, Attitude and Rotation
2.4.1 Direction Cosine Matrix(DCM)
2.4.2 Euler Angles
2.4.3 Navigational Parameters Transformation between Commonly Used Coordinates
Chapter3 Dead Reckoning, Intersection Positioning and Feature Matching Navigation——Basic mathematical methods to get navigation solutions
3.1 Typical Dead Reckoning Models and Navigation Systems
3.1.1 Dead Reckoning Navigation in a Two Dimensional Space
3.1.2 Dead Reckoning Navigation in a Three Dimensional Space
3.1.3 Typical Sensors for Dead Reckoning Navigation
3.2 Typical Intersection Positioning Models and Navigation Systems
3.2.1 Non-Directional Beacon
3.2.2 VOR/DME
3.2.3 TACAN(Tactical Air Navigation)
3.2.4 Loran-C
3.2.5 Mobile Telephone Positioning
3.3 Typical Feature Matching Models and Navigation Systems
3.3.1 Road Map Matching
3.3.2 Terrain-Referenced Navigation(TRN)
3.3.3 Scene Matching
Chapter4 Inertial Navigation——Autonomous Navigation Technology Independent of External Infrastructure
4.1 How does an Inertial Navigation System Work? ——Platform Inertial Navigation Technology and Strapdown Inertial Navigation Technology
4.1.1 Two Dimensional Inertial Navigation
4.1.2 Three Dimensional Inertial Navigation
4.1.3 Inertial Navigation under Ellipsoidal Earth Model
4.1.4 Comparisons between Platform Inertial Navigation Technology and Strap-Down Inertial Navigation Technology
4.2 How do Accelerometers Measure a Vehicle’s Acceleration or Velocity Increment Relative to the Inertial Space?
4.2.1 Spring-Mass Accelerometer and Concept of Specific Force
4.2.2 Force-feedback Pendulous Accelerometer
4.2.3 Vibrating Beam Accelerometer
4.2.4 MEMS Accelerometer
4.2.5 Key Performance Indicators for Accelerometer Accuracy
4.3 How do Gyros Measure a Vehicle’s Angular Rate or Angular Increment
Relative to the Inertial Space? (Part I)
4.3.1 Conventional Spinning Mass Gyroscopes
4.3.2 Coriolis Vibratory Gyros(CVG)
4.4 How do gyros measure a vehicle’s angular rate or angular increment
relative to the inertial space?(Part II)
4.4.1 Ring Laser Gyro(RLG)
4.4.2 Fiber Optic Gyro(FOG)
4.4.3 Key Performance Indicators for Gyro Accuracy
Chapter5 Satellite Navigation——With Radio Navigation Stations in the Outer Space
5.1 Primary Elements of the GNSS——Realization of Continuous Global Coverage
5.1.1 Coverage Limitations of Terrestrial Radio Navigation
5.1.2 Space Segment of Global Navigation Satellite System
5.1.3 Fundamentals of Satellite Orbits
5.1.4 Control Segment of Global Navigation Satellite System
5.1.5 User Segment of Global Navigation Satellite System
5.2 Spherical Intersection Positioning——Basic Principle of Position Fixing based on Pseudo-range Measurements
5.2.1 Two Dimensional Intersection Positioning Based on Ranging Measurements
5.2.2 Three Dimensional Intersection Positioning of GNSS Based on
Ranging Measurements
5.2.3 Basic Principle of Ranging in GNSS Using TOA(Time of Arrival)
Measurements
5.2.4 Main Error Sources in Pseudo-range Measurements
5.2.5 GNSS Positioning Considering User Receiver Clock Error
Chapter6 Multi-Sensor Integrated Navigation——To Make Complementary Advantages by Optimization
6.1 Basic concepts of Integrated navigation
6.1.1 Concept Study of Integrated Navigation from a Navigation Test Vehicle
6.1.2 Classification of Integrated Navigation
6.1.3 Why can Integration Improve Navigation Performance ?
6.2 Spatial-temporal Information Transposition in Integrated Navigation
6.2.1 Spatial Information Transposition in Integrated Navigation
6.2.2 Temporal Information Transposition in Integrated Navigation
