j clayton kerce
 
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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 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:

  1. 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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