
Guidance, Navigation and Control Short Course


COURSE DESCRIPTION:
Understand the principles of navigation by inertial, celestial, and radio (including GPS) methods, the principles of guidance and control of 6DOF motion, the characteristics and noise models of sensors, and the dynamic behavior of controlled and guided systems.
INSTRUCTORS:
Dr. Brian Stevens (Director) and Dr. J. Clayton Kerce
OFFERINGS:
TARGET AUDIENCE:
Engineers and scientists involved in the design or evaluation of guidance, navigation, and control systems for land, sea, and air vehicles, and projectiles.
COURSE OUTCOMES:
 Discover how sensor errors arise, propagate, and are modeled & simulated
 Understand the Kalman Filter and concepts of Estimation Theory
 Master the kinematics and dynamics of 6DOF motion
 Explore principles of Geodesy and the WGS84 datum
 Examine systems for navigation on the Earth
 Understand gyro and accelerometer principles and error sources
 Learn the techniques of missile guidance
COURSE OUTLINE:
 Review material for GNC relevant mathematics (available in advance)
 Navigation
 Models of Earthâ€™s shape; WGS84; Coordinate Systems; Gravity & Gravitation
 Map Projections; Plane & Spherical distance calculations; AstroNavigation
 Radio Navigation; Hyperbolic Systems; VOR; DME; TACAN
 GPS; Principles; Sources of Error; Differential GPS systems
 Systems Theory
 Mathematical Models; State Equations; Numerical Simulation
 Equilibrium and Linearization; Numerical solution; Aircraft Example
 Analytical Solutions of Linear State Equations; Modal Analysis
 Low energy trajectory planning for satellite control & navigation
 Kinematics & Dynamics of RigidBody 6DOF Motion
 Vector Analysis; Relative Motion; Attitude Representations; Quaternions
 Translational and Rotational Dynamics; Stability of Spinning Bodies
 Aerodynamic Effects; Spinning Artillery Round example.
 Control Problems in GNC
 Review of relevant control theory
 Inertial Stabilization; Mechanization; Disturbance Inputs
 Pointing Control; Control of multiaxis gimbals
 Tracking Control; Tracking dynamics; Target tracking example with Kalman trackfilter
 Multivariable Design Example: Aircraft automatic landing; Steady State conditions, linearization, transfer functions,compensation, initialization, simulation.
 Probability & Random Processes in GNC
 Review of Probability and Random Process Theory, leading to:
 Descriptions of Errors; Noise Analysis; MonteCarlo Simulation
 Shaping Filters; Complementary Filtering; Covariance Analysis
 Least Squares; the Kalman Filter; Nonlinear Dynamics; Divergence & Bias
 Factorization; Choice of Variables; Tracking example; Estimation Theory
 Inertial Navigation
 Accelerometers and Gyroscopes: Types & Principles, Error Sources
 Stabilized Platform & Strapdown Nav. Systems; Alignment; Errors
 Guidance
 Command Guidance v. Homing Guidance
 Proportional Navigation, Augmented P.N, Modern Guidance Laws
 Missile Autopilots; Missile Homing loop Analysis
 Guidance Filters; Kalman Filter example and simulation
 Monte Carlo Simulation; Adjoint Analysis



