Elevation

A
20

E>
Sum

O
-

[pift
Relative
Ampl
diff pattern
of
·

o -
elevalon
-

desired lide
g path -sum
·
pattern

Image signal
Direct
&
Reflected from level
ground
Just the
like localizer, we have

glide slope antema I image antenna.

earlier
-principles like but
Operating
multiplicati factors are different.
-
on

12/9/23
Characteristics
->
Glide slope signal
C lead (Ed 18
Phass
Real
Antenna
ni
a (phace lag 6 2xhsino
=

(cst aut
a I for sum

nd -
10 signal)
A side bands
only
Yeah For sBO ant
(difference signal)
leading (24)
Phase
M

Real antennas sirio

Image
=

&
together create
an effect I
of the wo-
similar to that 20
~

elementlocalizer antenna

rect
At
P 4d
Sos
a sos
signal
reflected is
1800

~
sino sos
 424-sodL20
-sin(2+90%)
+
0
=

a sod
Diff a since Sod

03
=

D
Enos
-

I
-

-
his

using
chosen

=
such

0 900
=
20
=

when
that

ofdesired on
Sum
usually 30

Alternatives to overcome IIS limitations: -

Didn't work
D Microwave
system (MIS)
landing -

EGPS, GNSS)
means
based
2) satellite Augmentation
corrections
system (SBAS:
one-two
C -

Provides to costal
-onary
GPS
using 9
satellites improve & of GPS.
reliability
-

to the
accuracy
Decision
height (200 35) ft
-

For
category I

India's SBAS:GAGAN -
Used
are as ↑
around
hilly
->
can't guide upto touchdown

3) GBAS:Ground based
Ang systended
Additional -ous
correct are
ground-based
using
-

transmitters

For
category 1-3

Aircraft

- reflection
a

>
hilly
againstsurfaces
Inertial
Navigation System (INS)
-

Dead
Reckoning system (eg) Odometer)
hi
perfect" I
"measure"
-

measure
in
acceleration/relocity it
of integrate to
find the

change position
also change position.
Syste
-some
-

we can measure in

Ar
-

I Attitude for
important
y x

-
7 is

Dir
M

I
I
a dead
-·system
reckoning
·
For 2D motion:
nelc
~
-

(heading: mag
rr-1 compass
Y
Magnetometers)
INS.
An example of a 3D Dead
Reckoning system is

linear position, velocity, acceleration, attitude,

angular rate
->

Advantages:self-contained (upon initialization, theoretically

operates on its own
C
tromposition,velocitystim's
get a
We can almost
everything
-

needed

disturbed
... Chance of getting by external sources is
remote.

Disadvantages:Initialization
is
required
ENOr with time ->
...can't work with
grow thisalone. We
need
comp lementary
a

to is in d
system
error

eg) INS+ GPS

 INS components: f -
specific force
rate
body frame
by
W:
Angular
Inertial
Measurement fib
Unit inertial frame along body

I
-

~
Wib wort
resolved
·

trams in ody b

frame
e
w
A triad of
gyroscopes E on, velocity,
-

accelerometers Nar
linear poss
acceleraton, all Iude,
-

->
process
-

or
↑

(Naw.algo) velocity
angular
accelerometer
Initialize
(Navigation solution)
- measures

f:non-gravitational force per unit

mass
(fiB an-Wib)
=

;
-

/
-
i
Measured
gravitationare
acceleration wet inertial space
A
-
On a State
-onary &
vehicle on the
accelerometers
surface of the
Earth, what would
be the
readings of a
gyroscopes?
a)
Hint:0
Z
9 are different at w
-

g
I
-

acceleration due to
gravity #

*
al
gravitation r

acceleration

Isphean)
-

gib= Wib+(-wxwxr) x

centrifugal acceleration

Laserat
↓
on due
-

gravity
↑

to

... Best model

earth's ellipsoid.
is

& Not
accelerometer on inertial frame.
Gyroscope
an

b)
Rotating 2-anis
about
 Grooves' Book
(Section S2) PD
-> Inertial Frame
Navigation Equations
Cs, aib, vib riib
↓- Orientation of inertial frame wrt
body frame
coordinate
transformation
matrixe

x
c4X
=

C:gives the orientation of

a
frame wit

3-2-1 rotation

I 2o/oiotto I
I

· 0
-

an
Pitch
Roll
O
d

c c,c =

c (c) =

ib-time ofC
i
·

dirature
Cb -

Rib - 0
-

Wib(3) wi(2)
↓ wit(3) 0 -
Wir (I)
b
Wib -

wi(z) wi (i) O
-
 Wib
cit) ↓ ~fi
Attitude velocity
↑

C Wib
update update

I posite
S the -

vib Wit()
E) S dis()

~vis(+)
W

((t)
Attitude Update
interval is small wib
that
Assumption:Update
I so is
constant
over [

C c" b
=

b
(1)
with the
assumption small
I
being
i itis
c" (t
-
that the
+ 2 cpeup (-rib
=

2I small
&
↑
-show

solution to the
Msmall -on
differential equal
(1)
esn't ↓change

ett-s(t) I
with I

exponential
expanding
Attitude Update
cb(t 2)
+

(((t)(I -ibz)
=
+

(o(t) (((- ribz)

=

Update:
Velocity
-

-on
Accelerat (fib is an
average over the interval t to
t
2)
+
 ((t)) fib fib
(e)
+ =

Position Update
vib(+)
ai=fi+ Wib
1
vis(t) vi is .
=

(-) + a e vibl-)
Z

Change position
in
=

=(vib(+) vib(-) +
<

vit(t) wi(t
=

(vib(+)
+ vi(t)
+
2