# Università degli Studi di Napoli "Parthenope"

## Teaching schedule

Academic year:
2015/2016
Belonging course:
Course of Master's Degree Programme on NAVIGATION SCIENCE AND TECHNOLOGIES
Disciplinary sector:
TOPOGRAPHY AND CARTOGRAPHY (ICAR/06)
Credits:
6
Year of study:
2
Teachers:
Cycle:
Second semester
Hours of front activity:
48

### Course description

The course aims to provide students with the theoretical and application aspects for understanding and designing integrated navigation systems.
Knowledge and understanding: The student must demonstrate knowledge related to inertial and integrated navigation able to determine the position, speed, and orientation of an integrated receiver.
Ability to apply knowledge and understanding: The student must demonstrate knowing how to use the acquired concepts and the tools necessary for realizing inertial and integrated positioning algorithms
Judgment autonomy: The student must be able to know how to independently evaluate the processes of integrating heterogeneous measures and to indicate the main estimation methods.
Communicative Skills:
The student must have the ability to easily explain inertial and integrated navigation systems with the correct use of scientific language.
Learning Skills:
Students must be able to progressively acquire autonomy and to continuously update their knowledge through the study of publications (also in English) in order to acquire the ability to deepen the topics of the Inertial and Integrated Navigation.

### Prerequisites

It is necessary to acquire and assimilate the knowledge provided by the courses of Mathematical Analysis, Physics, Numerical Calculation and Programming, Geodesy and Navigation.

### Syllabus

Introduction to inertial and integrated navigation:
• Inertial navigation principle, inertial navigation equation.
Reference Systems and Coordinate Transformations:
• rotations, coordinate systems, coordinate transformations, Transformation Matrix (MCD), derivative of an MCD, quaternion algebra, quaternions and rotations, derived from a quaternion).
Inertial Navigation Sensors:
• accelerometer, gyro, Ring Laser - Gyro).
Inertial Navigation Systems:
• platform systems: platform function, 3 and 4 axle platform, platform behavior, horizontal rotation, horizontal coordinate with geographic coordinates, vertical mechanization constraints, other mechanization).
• Strapdown systems (features, MCD with Euler angles, direct cosine calculation, MCD with quaternions, initial strapdown platform alignment).
• Inertial system errors (error state equation, linearization and resolution, measurement equation, examples).
Integrated navigation:
• Optimum estimation of one-dimensional quantity, discrete Kalman filter, relative examples, non-white noise system, examples).
Kalman Filter Applications: Extended Kalman Filter, loosely / tightly coupled in open / closed loop, realization of an integrated INS-GPS system.

### Textbooks

- V. NASTRO, “Navigazione inerziale e integrata”, Guida editore, Napoli 2004•
- Specific Navigation Integrated Topics are dealt with supplementary teaching material (in pdf format) provided during the course by the teacher

### Learning assessment

The objective of the exam is to check the level of achievement of the topics previously indicated.
The exam consists of an oral test in which the ability to link and compare different aspects of the course will be evaluated.
Examination is not exceeded if the score is less than 18/30.

## Mutuazioni

• Study course SCIENZE E TECNOLOGIE DELLA NAVIGAZIONE - Training course in PERCORSO COMUNE