Dr. Aly El-Osery ee

Last Updated: January 08 2020

EE 565: Position, Navigation and Timing


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


TR 11:00am - 12:30pm in Workman 117

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:

  1. Navigation Mathematics
    • Introduction to Navigation
    • Coordinate frames
    • Kinematics
    • Earth surface and Gravity
    • Frame Transformations
  2. Navigation Sensors and INS Mechanization
    • Accelerometers
    • Gyroscopes
    • Error Characteristics
    • Inertial Navigation Equations
  3. INS/GPS Integration
    • GPS
    • Kalman Filtering
    • Integration Architectures
    • System Model
    • Measurement Model
  4. System Example


  • Homeworks: 30%
  • Midterm: 20%
  • 2 Mini-projects: 10% each
  • Final project: 10%
  • Final report: 10%
  • Class Participation: 10%


Counseling and Disability Services:

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Academic Honesty:

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