PreRequisite: Senior standing. Prior exposure to rotation matrices and coordinate transformations, MATLAB/Simulink programming experience, and probability. Knowledge of statespace representations of systems would be desirable, however, not required.
Spring 2014 Schedule: M/W/F 3:00 p.m. – 4:00 p.m. in King Eng. Rm 117
Instructor: Dr. Stephen Bruder
Textbook: Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems 2E by Paul Groves
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 and implementation of a GPS aided Inertial Navigation System (aidedINS) for use on a small 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 position, velocity, and attitude (PVA) determination in various coordinate frames; navigation sensor technology including a wide range of accelerometers and gyroscopes; sensor specifications and characterization; testing and calibration approaches; effects of inertial sensor error and compensation methods; analysis of real sensor data; and simulation and modeling using MATLAB/Simulink.
ACQNOWLEDGEMENT: This course has been developed in collaboration with Dr. Aly ElOsery, EE Dept., New Mexico Tech.
Topics Covered:
 Navigation Mathematics
 Introduction to Navigation
 Relevant 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
Tentative Grading Structure:
Homework Assignments  30% 
Two MiniProjects (10% each)  20% 
Final Project and Report  45% 
Class Participation  5% 
MATLAB Code Repository (Link):
Class Schedule:
Week #  Dates  Topic  Assignments / Code  Reading 

1  Monday, Jan 6   Winter Break Holiday  
Wednesday, Jan 8  Introduction (ppt, pdf)  dead_reckoning.m  Ch 1  
Friday, Jan 10  The Four Coord Frames (ppt, pdf)  Sec 2.1  
2  Monday, Jan 13  Rotation Matrices I (ppt, pdf)  Sec 2.2  
Wednesday, Jan 15  Rotation Matrices II (ppt, pdf)  Sec 2.2  
Friday, Jan 17  Rotation Matrices III (ppt, pdf)  Sec 2.2 

3  Monday, Jan 20   MLK Holiday   
Wed, Jan 22  Rotation Summary  Sec 2.2  
Friday, Jan 24  3D Translation (ppt, pdf)  hwk 2, soln_2 (& files) 
Sec 2.2  
4  Monday, Jan 27  Angular Velocity (ppt, pdf)  Sec 2.2  
Wed, Jan 29  Angular Velocity (ppt, pdf)  VN200 IMU example (code)  Sec 2.3  
Friday, Jan 31  Linear Velocity (ppt, pdf)  Sec 2.3  
5  Monday, Feb 03  Linear Velocity (ppt, pdf)  Sec 2.3  
Wed, Feb 05  Earth Surface and Gravity (ppt, pdf)  Sec 2.4  
Friday, Feb 07  Coordinate Frames Transformations (ppt, pdf)  Sec 2.5  
6  Monday, Feb 10  Inertial Sensors (ppt, pdf)  Ch 4  
Wed, Feb 12   class canceled   Ch 4  
Friday, Feb 14  Inertial Sensors & Errors (ppt, pdf)  Ch 4  
7  Monday, Feb 17   Presidents Day Holiday   
Wed, Feb 19  
Friday, Feb 21  Inertial Nav in the ECI Frame (ppt, pdf)  Sec 5.2  
8  Monday, Feb 24  Inertial Nav in the ECEF Frame (ppt, pdf)  Sec 5.3  
Wed, Feb 26  Inertial Nav in the Nav Frame (ppt, pdf)  Sec 5.4  
Friday, Feb 28  Inertial Nav in the Nav Frame  Sec 5.2  
9  Monday, March 03  Coarse selfalignment (ppt, pdf)  Mathematica Code  Sect. 5.6 
Wed, March 05  Noise & Random Processes (ppt, pdf)  
Friday, March 07  Sensor Noise Characteristics (ppt, pdf)  Sect 4.4 & 5.7  
10  Monday, March 10   Spring Break   
Wed, March 12   Spring Break   
Friday, March 14   Spring Break   
11  Monday, March 17  Project 2  Solution  
Wed, March 19  
Friday, March 21  ECI Error Mech. (ppt, pdf)  Sec. 14.2.2  
12  Monday, March 24  ECEF Error Mech. (ppt, pdf)  Sec. 14.2.3  
Wed, March 26  Error Modeling and State Aug (ppt, pdf)  
Friday, March 28  Kalman Filtering Part I (ppt, pdf)  MATLAB code  Ch 3  
13  Monday, March 31  Kalman Filtering Part II (ppt, pdf)  MATLAB code  Ch 3 
Wed, April 02  Kalman Filtering Part II.5 (ppt, pdf)  Project 3  Ch 3  
Friday, April 04  The Global Positioning System (ppt, pdf)  Ch 3  
14  Monday, April 07  GPS Part II (ppt, pdf)  Ch 8  
Wed, April 09  Aided INS (ppt, pdf)  Ch 14.1  
Friday, April 11  INS/GPS Integration Architectures (ppt, pdf)  Ch 14.3  
15  Monday, April 14  INS/GPS System Integration Example(ppt, pdf)  Ch 14  
Wednesday, April 16  Course Review (ppt, pdf)  
Friday, April 18  Final Project Presentations 

16  Monday, April 21  Final Project Presentations


Wednesday, April 23  Final Project Presentations


Friday, April 25  Study day 