INERTIAL AND INTEGRATED AIR NAVIGATION
The course aims to provide students with the theoretical and application aspects for understanding inertial navigation systems and its integration with GNSS, in particular:
- a broad and comprehensive vision of inertial navigation systems;
- a clear understanding of the techniques and methods used to process inertial measurement;
- estimation tecnique for integration of INS/GNSS (Kalman Filter)
- a solid basis for possible continuation of academic studies.
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.
The student must have the ability to easily explain inertial and integrated navigation systems with the correct use of scientific language.
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.
It is necessary to acquire and assimilate the knowledge provided by the courses of Mathematical Analysis, Physics, Numerical Calculation and Programming, Geodesy and Navigation.
• C1, 16h -Introduction to inertial and integrated navigation. 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 Measurement Units (IMUs)
• C2, 2h - Inertial navigation principle, inertial navigation equation.
• C2, 6h - accelerometer, gyro, Rate – Gyro, MEMS .
Inertial Navigation Systems:
• C2, 8h - platform systems: platform function, 3 and 4 axle platform, platform behavior, horizontal rotation, horizontal coordinate with geographic coordinates, vertical mechanization constraints, other mechanization.
• C2, 4h - Strapdown systems: features, MCD with Euler angles, direct cosine calculation, MCD with quaternions, initial strapdown platform alignment.
• C2,C3, 2h - Inertial system errors: error state equation, linearization and resolution, measurement equation, examples.
• C3, 6h - Optimum estimation of one-dimensional quantity, discrete Kalman filter, relative examples, non-white noise system, examples.
C3, 4h - Kalman Filter Applications: Extended Kalman Filter, loosely / tightly coupled in open / closed loop, realization of an integrated INS-GPS system.
The course deals with the basic elements required for inertial navigation and for designing integrated navigation systems. Particularly, it focuses on the theoretical fundaments of Inertial Measurement Units (IMU) and of Integrated Navigation Systems (INS).
The course provides the following competencies:
C1. Orientation Estimation with Quaternions;
C2. IMU use and calibration;
C3 INS designing with Kalman Filtering
Further details about the acquired competencies are furnished in the extended version of the programme.
Traditional lectures, Exercises and Blended lectures (in italian)
- Specific Inertial Navigation Topics are dealt with supplementary teaching material (in pdf format) provided during the course by the teacher;
- Introduction to random signals and applied Kalman filtering : with MATLAB exercises and solutions , by Brown, Robert Grover.; Hwang, Patrick Y. C. New York : Wiley, 1997.
- Inertial Navigation Systems with Geodetic Applications (2001) by Christopher Jekeli; Walter de Gruyter, 2001. ISBN 3110800233, 9783110800234
The exam consists of an oral interview.
The oral examination aims to verify the following requirements:
a) understanding of the topics in the program and their ability to explain them with an appropriate vocabulary
b) ability to manage the concepts learned in the course in order to use them synergistically to solve complex problems
c) ability to apply basic math and physics knowledge to the course topics.
With reference to the vote, a maximum of 10 points will be awarded for each verified objective referred to in points a, b and c.
For the purposes of passing the exam, a minimum score of 6 points is required.
The praise will be assigned in case the Student:
- obtain the maximum score assigned to all the objectives;
- demonstrate full autonomy in the oral interview and mastery of the topics in the program