EE 570: Advanced Topics in Electrical Engineering Integrated Navigation Systems |
Instructor
|
Required Textbook: Paul Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition, Artech House, 2013.
Recommended Software: MATLAB Student Version or Octave
Lectures: TR 12:30am - 13:45pm in Cramer 127
|
|
Course Description:
This course will cover the basics of terrestrial location and navigation with an emphasis on practical exposure to the technology. In particular, the class will collaborate on the design, integration, and testing of a UGV or UAV.
Key components of the course include: GPS fundamentals; an overview of inertial navigation technology; principles of strapdown inertial navigation systems including coordinate frames, attitude representation, and mechanization in various coordinate frames; sensor technology covering a wide range of accelerometers and gyroscopes; sensor specifications and characterization; testing and calibration approaches; effects of inertial sensor error and compensation methods; and introduction to unmanned systems; analysis of real sensor data and simulation and modeling using MATLAB/Simulink.
|
Topics Covered:
- Navigation Mathematics
- Introduction to Navigation
- Coordinate frames
- Kinematics
- Earth surface and Gravity
- Frame Transformations
- Navigation Sensors and INS Mechanization
- Accelerometers
- Gyroscopes
- Error Characteristics
- Inertial Navigation Equations
- INS/GPS Integration
- GPS
- Kalman Filtering
- Integration Architectures
- System Model
- Measurement Model
- System Example
|
|
Grading:
- Homeworks: 30%
- 2 Mini-projects: 10% each
- Final project: 30%
- Final report: 10%
- Class Participation: 10%
|
|
Links:
|
Counseling and Disability Services:
Reasonable Accommodations
New Mexico Tech is committed to protecting
the rights of individuals with disabilities. Qualified individuals
who require reasonable accommodations are invited to make their needs
known to the Office of Counseling and Disability Services (OCDS) as
soon as possible. To schedule an appointment, please call 835-6619.
Counseling Services
New Mexico Tech offers mental health and substance
abuse counseling through the Office of Counseling and Disability Services.
The confidential services are provided free of charge by licensed
professionals. To schedule an appointment, please call 835-6619.
|
Academic Honesty:
New Mexico Tech's Academic Honesty
Policy for undergraduate students is found starting
on page 64 of the NMT Undergraduate Catalog,
New Mexico Techr's Academic Honesty Policy for graduate
students is found starting
on page 62 of the NMT Graduate Catalog,
You are responsible for knowing, understanding, and following this policy.
|
Respect Statement:
New Mexico Tech supports freedom of expression within the
parameters of a respectful learning environment. As stated in
the New Mexico Tech Guide to Conduct and Citizenship: "New
Mexico Tech's primary purpose is education, which includes
teaching, research, discussion, learning, and service. An
atmosphere of free and open inquiry is essential to the pursuit
of education. Tech seeks to protect academic freedom and build
on individual responsibility to create and maintain an academic
atmosphere that is a purposeful, just, open, disciplined, and
caring community."
|
|
|