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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 |
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Requirements
Exam
Principles and baselines related to teaching and learning
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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 |
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Contact teaching: 0 % Distance learning: 0 % Self-directed learning: 0 % |
Documents