EE 565 - Spring 2023
EE 565 (Position, Navigation and Timing) - Spring 2023
Instructors:
Aly El-Osery (Fidel Center 275, 835-6432, aly.elosery@nmt.edu, http://www.ee.nmt.edu/~elosery/)
Kevin Wedeward (Workman Center 221, 835-5708, kevin.wedeward@nmt.edu, https://sites.google.com/nmt.edu/kevin-wedeward/)
Class Day, Time and Place: TR 11:00am-12:15pm in Workman Center 117
Office Hours:
Aly El-Osery - by appointment
Kevin Wedeward - MTWR 2:00pm-3:00pm, by appointment, and any time office door is open
Textbooks as References (not required):
Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration by Aboelmagd Noureldin, Tashfeen B. Karamat and Jacques Georgy, Springer, 2013
Free pdf and low-cost paperback are available from publisher when website is accessed from NMT computer/network.
Global Navigation Satellite Systems, Inertial Navigation, and Integration, 4th Edition, by Mohinder S. Grewal, Angus P. Andrews and Chris G. Bartone, Wiley, 2020
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition by Paul D. Groves, Artech House, 2013
This textbook was used when creating lectures, so its notation and development likely best matches material presented in class.
Prerequisites: Graduate standing in electrical engineering or consent of instructor and advisor
Course Description: Covers the fundamentals of timing, terrestrial location and navigation with an emphasis on practical exposure to the technology. Key components 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; introduction to unmanned systems; analysis of real sensor data and simulation and modeling using MATLAB/Simulink.
Topics:
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
Course Outcomes: Students enrolled in the course will be able to
interpret and utilize mathematics, coordinate frames and transformations needed for navigation,
develop mechanization equations in various reference frames,
understand the process by which a Global Navigation Satellite System (GNSS) estimates position and velocity,
perform procedures to calibrate, initialize and align inertial sensors,
translate data sheets for inertial sensors into models of performance and errors, and
implement a linearized Kalman Filter in a coupled system (inertial navigation and GNSS) to estimate position and attitude.
Grading:
Homeworks: 30%
Midterm exam: 20%
Projects: 40%
Class participation: 10%
Academic Honesty: New Mexico Tech’s Academic Honesty Policy for undergraduate and graduate students is found in the catalog - https://www.nmt.edu/registrar/catalogs.php/. Further information about academic honesty can be found on the Associate Vice President for Academic Affairs website - https://www.nmt.edu/academicaffairs/avpaa/academic_honesty.php. You are responsible for knowing, understanding, and following this policy.
Reasonable Accommodations: New Mexico Tech is committed to protecting the rights of individuals with disabilities and providing access and full participation in the educational experience. Students with disabilities who require reasonable accommodations are invited to make their needs known to the Office for Student Access Services (SAS) as soon as possible. Accommodations are not retroactive and may take some time to implement. Contact SAS in person at Fidel Center Room 245, call 575-835-6209, email access@nmt.edu or through the website - https://www.nmt.edu/ds/academicaccommodations.php.
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Students should not come to class if they are feeling ill and should follow any quarantine guidelines that they are given in the event of exposure to COVID-19. If you are sick, you should contact your instructor immediately with a request for making up any missed work and assignments, contact the Student Health Center, and consider getting tested for COVID-19 (as applicable). Please note the Student Health Center does not provide sick notes to students who are not seen by them.
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