Overview Navigation & Guidance

AEM 8442
Handout #1

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 1

 Navigation vs. Guidance
Navigation: The process of determining a vehicles, persons, or
objects position relative to some coordinate frame.
Answer to the question Where am I?
Output from GPS or Inertial Navigation Systems (INS) is navigation
information
Examples of navigation systems:
Global Navigation Satellite Systems (GNSS): GPS, GLONASS, BDS, Galileo.
Inertial Navigation Systems (INS)
Vision-based navigation: Cameras (visual, IR)
Radar/LIDAR-based navigation.

Guidance: The process of directing a vehicle, person or object from

one point to another point along some desired path.
Answer to the question How do I get from here to there?.

Control: Act of carrying out the guidance instructions.

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 2
 Navigation, Guidance & Control
Control Navigation
Laws Sensors
Vehicle

Guidance Navigation
Algorithms Algorithms
AEM 8442
Desired Position

Navigation system tells you where you are.

Guidance system gives you instructions on how to get where you want to
be.
Control system acts to move the vehicle per the guidance instructions
AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 3
 Example #1: Smart Phone

Sensors
GNSS (GPS)
IMU
Magneotmeter
Baro altimeter
Camera
LIDAR

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 4

 Example #2: Driverless Car
LIDAR
Sensors (prototype
vehicle)
LIDAR.
Radar.
IMU.
Odometer.
Credits: www.google.com

Radar
5
 Example #3: Small UAVs
Senteras Phoenix

Sensors
IMU.
GNSS.
Magnetometer triad.
Camera Pressure altimeter.
Payload Pitot tube
Image courtesy of Sentera
Camera

6
 Example #4: Precision Landing of
Commercial Aircraft

Sensors
Inertial Navigation System (INS).
Instrument Landing System (ILS).

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 The Instrument Landing System (ILS)

A guidance system used extensively during approach and landing.

Principle of Operation: Provides vertical and lateral guidance
Lateral guidance provided by a signal called the Localizer (108-112 MHz)
Vertical guidance provided by another signal called the Glide Slope (329-335
MHz)
A number of the systems used in modern aerial navigation are actually
guidance systems. For example, VOR, DME, NDB and TACAN (military)
They can be integrated with GPS or INS to become navigation systems.
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Integrated Navigation System (Boeing E-4)

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 Scope of AEM 8442
We will limit our scope to the navigation problem.
We will consider (in depth) two navigation systems.
Global Navigation Satellite Systems (GNSS)
Inertial Navigation Systems (INS)
We will explore the issue of integrated (or multi-sensor)
navigation systems.
INS/GNSS
Explore more in your individual projects
Explore the problem of navigation integrity.
How do you detect failures in your navigation systems
(hardware and algorithmic)?
AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 10
 Self-Driving Tesla Fatal Accident
Sensors
Vision
Radar

Accident: Sensors did

not agree on what
they were seeing

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 11

 Types of Navigation Systems
Navigation systems are classified as dead reckoning systems,
positioning (or position fixing) systems or a hybrid of both.
Dead reckoning: Position is deduced from a series of velocity,
heading, acceleration and/or rotation measurements relative to
an initial position. To determine the current position you must
know a history of past positions
Heading & Velocity DR Systems
Inertial Navigation Systems (INS)
Positioning/Position Fixing: Position is determined from a set of
measurements processed in some algorithm. Knowledge of past
position history is not necessary.
Vision or camera-based systems (???)
Radionavigation systems such as LORAN, Omega
Satellite Navigation (SatNav) systems or Global Satellite Navigation Systems
(GNSS) such as GPS, GLONASS, BDS, Galileo.

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 12

 Types of Position Fixing Systems
Multilateration: Determination of position by measuring the distance (or bearing
or a combination of distance and bearing) to two or more transmitter
Some special cases are:
theta-theta (q-q) two bearing measurements used (see next page)
rho-rho (r-r) two range measurements used
rho-theta (r-q) a range and bearing measurement used
Trilateration is a special case when three transmitters are used.
Multilateration: more than 3 transmitters are used.
Hyperbolic positioning: Determination of position by measuring at
least three differences in the distance to pair of transmitters.
Doppler positioning: Determine a line of position by measuring the Doppler shift of
a radio signal emanating from a transmitter
Transit, the first satellite navigation system, used this principle.
Doppler shift of a radio frequency (RF) signal is proportional to the velocity difference
between receiver and transmitter projected on to the line of sight vector between the
two
r
f f R - f T -

AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 13
 r-r Position Fixing
Assuming you can make the range
measurements ri (where i is equal to 1,2 or 3)
then the following three equations can be
formed:

r12 x - x1 2 y - y1 2
r 22 x - x2 2 y - y2 2
r32 x - x3 2 y - y3 2

How do you estimate or measure the ranges or angles (bearings)?

Radio Frequncy (RF) signals
Visual fixes
Acoustic signals
Etc.,
AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 14
 How Do you Measure Range or Bearing?
The range based on measuring the time-of-flight of a RF signal that leaves the
transmitter at t = t1 and arrives at the user at t = t2 is given by:

r ct2 - t1

In the presence of a clock error, dt (= b/c), the range estimate (or measurement)
becomes:
r r b ct2 - t1 cdt ct2 - t1 b
A rule of thumb: When using RF signals to measure ranges, 1 ms of timing error
leads to 300 m of ranging error.

Because speed of light is roughly 300,000 km/sec.

What to do if you do not have a clock that is accurate enough.

Use time-difference of arrival (TDOA)

Motivation for hyperbolic position fixing systems such as LORAN.
AEM 8442, Fall 2016 Handout #1 (Intro. to Nav & Guidance) 15
 q-q Position Fixing
Consider the case where we obtain the three bearing measurements q1 q2, q3 and
q4 (the observables) shown in the figure below. The objective is to determine (at
any instant in time) our unknown position coordinates x and y from known or
measured quantities.

yi - y
tan qi , i 1, 2, 3 or 4
xi - x
Lines of Position (LOP) for this problem
x
are straight lines.
We cannot perfectly measure qi, xi and y
yi which implies that in practice our LOP
will be wedge.
Problem with q-q systems: For a
given angular measurement error,
the opening of the wedge gets
larger the farther away you move
from the source of your bearing
measurement
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 Vision-Based Navigation

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 Challenges in Navigation & Guidance

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