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Guidance, Navigation and Control Short Course
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COURSE DESCRIPTION:
Understand the principles of navigation by inertial, celestial, and radio (including GPS) methods, the principles of guidance and control of 6-DOF 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 6-DOF motion
- Explore principles of Geodesy and the WGS-84 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 Earth’s shape; WGS-84; Coordinate Systems; Gravity & Gravitation
- Map Projections; Plane & Spherical distance calculations; Astro-Navigation
- 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 Rigid-Body 6-DOF 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 multi-axis gimbals
- Tracking Control; Tracking dynamics; Target tracking example with Kalman track-filter
- 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; Monte-Carlo 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
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