Course Catalog 2011-2012
Postgraduate

Basic Pori International Postgraduate Open University

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Course Catalog 2011-2012

TKT-2556 Basics of Inertial Navigation, 5 cr

Additional information

Suitable for postgraduate studies

Person responsible

Pavel Davidson, Jussi Collin

Lessons

Study type P1 P2 P3 P4 Summer Implementations Lecture times and places
Lectures
Excercises


 


 


 
 2 h/week
 2 h/week


 
TKT-2556 2011-01 Tuesday 14 - 16, TB224

Requirements

Exam

Principles and baselines related to teaching and learning

-

Learning outcomes

After completing the course, the student will understand the basic principles of inertial navigation and implementation of Kalman filtering to fusion of INS and aiding sensors.

Content

Content Core content Complementary knowledge Specialist knowledge
1. Inertial navigation principles, frames, errors. Level plane 2-D dead reckoning. Spherical Plane 3-D Inertial Navigator Rotation/corrections. Surface curvature corrections. Centripetal and Coriolis corrections.  Coriolis Law. Mechanization and block diagrams. Error sources.  Sensor selection. 
2. Earth shape. Coordinate frames. Acceleration sensing. Navigation mechanization. Error models. Augmentation. Pendulous reference. Schuler pendulum. Schuler oscillations. Altitude instability.      
3. Gimballed/Strapdown Error Formulation. Psi equation. Gimballed/Strapdown Error Propagation. Position, velocity and attitude error differential equations. IMU error budgets: MEMS,FOG,RLG etc.  Geometrical, physical, mathematical definition of angular position error and attitude error.   
4. Micromachined (MEMS) Accelerometers & Gyroscopes Process technology. Errors/resolution  MEMS accelerometer and gyro principle, design, fabrication. Open vs closed loop. Multi-position rotation calibration for accelerometer and gyro. Instrument compensation.   Manufacturers/designs/specifications. 
5. Leveling and gyrocompassing. Physical/analytical self leveling. Coarse alignment.      
6. Simple multisensor Kalman integration. Aiding sensors. Classical error compensation. Examples of Kalman filter implementation to radar/inertial simple example. Error models.   Optimal mechanization. Mixing GPS/INS. Coupling type: loose, tight, full, deep.  Inertial sensor error augmentation. Observable difference.  

Evaluation criteria for the course

Final exam

Assessment scale:

Numerical evaluation scale (1-5) will be used on the course

Study material

Type Name Author ISBN URL Edition, availability, ... Examination material Language
Book   Strapdown Inertial Navigation Technology   D. H. Tittertton   1 56347 693 2     Second Edition      English  
Lecture slides                English  

Prerequisites

Course Mandatory/Advisable Description
MAT-45806 Mathematics for positioning Advisable    

Prerequisite relations (Requires logging in to POP)

Correspondence of content

There is no equivalence with any other courses

More precise information per implementation

Implementation Description Methods of instruction Implementation
TKT-2556 2011-01       Contact teaching: 0 %
Distance learning: 0 %
Self-directed learning: 0 %  

Documents

Ex3_gyro_data.mat

Last modified28.03.2012