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12.215 Modern NavigationCourse OverviewClass ExpectationsCourse Topics: Coordinate SystemsCourse Topics: Navigation and MapsCourse topics: GPSCourse Topics: Statistics and EstimationCourse Topics: ApplicationsCourse TopicsSpecific Schedule (see web page)Specific Schedule (see web pageSpecific Schedule (see web pageSpecific Schedule (see web pageNotes on ScheduleElectronic MaterialsCoordinate SystemsCoordinate system definitionSimplest Global Reference FrameSimple SystemPotential based coordinate systemsConventional SystemsNext Lecture12.215 Modern NavigationThomas Herring09/08/2004 12.215 Modern Naviation 2Course Overview• The development of the Global Positioning System (GPS) started in the 1960s, and the system became operational in 1992. • The system has seen many diverse applications develop in the last few years with the accuracy of positioning ranging from 100meters (the civilian restricted accuracy requirement) to 1 millimeter (without the need for a security clearance!) • In this course we will apply many of basic principles of scienceand mathematics learnt at MIT to explore the applications and principles of GPS and contrast it to conventional navigation.• We also use GPS and other equipment in the class (and outside on Campus) to demonstrate the uses of this system09/08/2004 12.215 Modern Naviation 3Class Expectations• We will have some lab sessions during the course and there will be homework once every few weeks. • There will be an open book final exam. • Grading will be from the homework (60%), final exam (30%) and class participation (10%). • It will be acceptable in this course to work together on homework with the aim of better understanding the material and to refer to other books and published material provided that these additional materials are cited appropriately in the homework. • Each student should complete the homework separately. • It is not acceptable to simply copy the homework of another student.09/08/2004 12.215 Modern Naviation 4Course Topics: Coordinate Systems• General Areas:– Coordinate systems on a deformable, non-spherical Earth.– Concepts of latitude and longitude as determined by the direction of gravity (astronomical latitude and longitude) and determined by the normal to an ellipsoidal shape (geodetic latitude and longitude).– Relationships between coordinates; concepts of polar motion and changes in the rotation rate of the Earth; rotations and translations between coordinate systems. Effects that need to be considered for different accuracy results and the accuracies that are achievable with GPS.09/08/2004 12.215 Modern Naviation 5Course Topics: Navigation and Maps• Principles of Navigation. • Dead-reckoning, true and magnetic bearings• Use of celestial bodies for navigation• Common map projections• Metrics for relating curvi-linear coordinates • Spherical trigonometry09/08/2004 12.215 Modern Naviation 6Course topics: GPS• Principles of GPS.– Pseudorange and phase measurements. – Spread spectrum signal structure; basic concepts of signal analysis. Contributions of pseudorange and phase (geometric positions, clock errors, propagation medium, cycles ambiguity for phase). – Simple atmospheric and ionospheric delay models; use of dispersive properties of plasmas (ionosphere). – Use of differencing techniques in the analysis of GPS data.– Security systems on GPS satellites (selective availability and anti-spoofing) and their effects on navigation and precise positioning.09/08/2004 12.215 Modern Naviation 7Course Topics: Statistics and Estimation• Estimation procedures– Stochastic and mathematical models– Correlations and their interpretation – Statistical descriptions of dynamic systems– Propagation of covariance matrices– Statistics in least-squares estimation.09/08/2004 12.215 Modern Naviation 8Course Topics: Applications• Examples of applications:– aircraft navigation using GPS (comparison with laser profiling)– examination of real data to assess the limits of accuracy obtainable with GPS– applications in a variety of areas including precision farming; and intelligent vehicle navigation systems.09/08/2004 12.215 Modern Naviation 9Course Topics• Selection of topics is based on applying principles and mathematics to actual problems• Each of the mathematical topics covered will be used in understanding how GPS works and how the system can be used.• Homework exercises and data collection sessions in class will be examples of how these concepts are used09/08/2004 12.215 Modern Naviation 10Specific Schedule (see web page)# Date Topic1 09/08 Introduction; coordinate systems (this lecture)2 09/13 Latitude and Longitude definition3 09/15 Height Definition4 09/20 Spherical trigonometry5 09/22 Motion of Sun/Earth and astronomical position determination6 09/27 Almanacs paper and on-line7 09/29 Dead reckoning and conventional navigation09/08/2004 12.215 Modern Naviation 11Specific Schedule (see web page# Date Topic8 10/04 Use of sextant and measurements in class (determine latitude and longitude of class room)9 10/06 Linear algebra (as applied to transformations)10 10/13 Sextant results. Analysis of results previously collected11 10/18 Map projections12 10/20 Basic statistics need for estimation13 10/25 Propagation of variances14 10/27 Correlations09/08/2004 12.215 Modern Naviation 12Specific Schedule (see web page# Date Topic15 11/01Electronic distance measurement16 11/03 Basics of GPS pseudo range17 11/08 Geometry of GPS measurements and accuracy18 11/10 GPS carrier phase measurements19 11/15 Neutral atmosphere propagation20 11/17 Dispersive propagation delays21 11/22 Satellite motions09/08/2004 12.215 Modern Naviation 13Specific Schedule (see web page# Date Topic22 11/24 Class before Thanks Giving23 11/29 Basics of hand held GPS24 12/01 GPS outside the classroom25 12/06 Applications of GPS in different fields26 12/08 Review09/08/2004 12.215 Modern Naviation 14Notes on Schedule• Specific dates of some activities will depend on the weather conditions and the schedule may change • Last year’s lecture will be left on-line.• Reference material for the class– During the lectures, web-based materials and books will be referred to.– The topics covered in this course are sufficiently diverse that no single text book is recommended.– All materials for the course will be made available electronically09/08/2004 12.215 Modern Naviation 15Electronic Materials• The


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MIT 12 215 - Modern Navigation

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