EE 570 Location and Navigation Theory Practice Navigation

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization • Thursday

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 1. Attitude

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 2. Specific

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization Thursday 28

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 4. Position

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EE 570: Location and Navigation: Theory & Practice Navigation Sensors and INS Mechanization Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 1 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization • Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 2 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 1. Attitude Update: Method A § Start with the angular velocity Body Frame ECEF Frame Inertial Frame Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 3 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 1. Attitude Update: Method B § Start with the angular velocity Body Frame ECEF Frame Inertial Frame Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 4 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 1. Attitude Update: § High Fidelity § Lower Fidelity Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 5 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 2. Specific Force Transformation: § Simply coordinatize the specific force 3. Velocity Update § ECEF & ECI have the same origin 0 Body Frame ECEF Frame Inertial Frame Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 6 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 7 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 4. Position Update § By simple numerical integration Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 8 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization 1. Attitude Update 2. SF Transform 3. Velocity Update Grav Model 3. Position Update Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 9 of 10

Navigation Sensors and INS Mechanization Navigation Equations – Case 2: ECEF Mechanization • Thursday 28 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 10 of 10