In this course we will learn how a navigation solution, namely the position, velocity and attitude of a body, can be computed using measurements. First we will review systems of coordinates and how position and orientation can be described using several tools like Rotation Matrices and Quaternions. Expressions for velocities and accelerations are obtained by computing derivatives. Then the basic Navigation Equations relating acceleration and rate measurements are derived for a body moving on or Near the Earth. These are differential equations that must be integrated numerically to obtain the Strapdown Algorithm.
In real life, acceleration and rate measurements are never exact but are rather contaminated by errors giving rise to an erroneous navigation solution. We will hence study how errors propagate and will understand the limitations of inertial navigation. We will then study how these errors can be controlled by using additional navigation measurements, most significantly GPS/GNSS data
- Teacher: אופיר ואקנין
- Teacher: הקטור רוטשטיין