Course Catalog 2012-2013
Basic

Basic Pori International Postgraduate Open University

|Degrees|     |Study blocks|     |Courses|    

Course Catalog 2012-2013

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 2012-01 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, coordinate frames, errors. Level plane 2-D dead reckoning navigation system. Spherical Plane 3-D Inertial Navigator. Centripetal, Coriolis corrections and surface curvature corrections.  Coriolis Law. Tranformations between coordinate frames.  Sensor selection. 
2. Earth shape. Coordinate frames. Acceleration sensing. Navigation mechanization. Error models. Augmentation. Schuler oscillations. Altitude instability.      
3. Gimballed/Strapdown inertial navigation systems (INS). INS errors. Modelling of INS errors and error propagation. IMU error budgets.   Geometrical, physical, mathematical definition of angular position error and attitude error.   
4. Different types of inertial sensors: mechanical, optical, microelectromechanical (MEMS). Inertial sensor error modelling.  MEMS accelerometer and gyro principle, design, fabrication. Open vs closed loop. Multi-position rotation calibration for accelerometer and gyro.   Manufacturers/designs/specifications. 
5. Initial alignment of INS. Leveling and gyrocompassing.     
6. Simple multisensor integration based on Kalman filters. Aiding sensors. Classical error compensation. Examples of Kalman filter implementation to radar/inertial simple example.   Optimal data fusion. Inertial sensor error augmentation.   INS/GPS coupling types: loose, tight, deep. 

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

Course Corresponds course  Description 
TKT-2556 Basics of Inertial Navigation, 5 cr TIE-52206 Inertial Sensors and their Applications, 5 cr  

More precise information per implementation

Implementation Description Methods of instruction Implementation
TKT-2556 2012-01       Contact teaching: 0 %
Distance learning: 0 %
Self-directed learning: 0 %  

Last modified03.09.2012