240863025 20W 1SWS UE Übung zu Navigation und Datenfusion   Hilfe Logo

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Übung zu Navigation und Datenfusion 
Winter semester 2020/21
Chair of Flight System Dynamics (Prof. Holzapfel)
(Contact information)
Angaben zur Abhaltung
Navigation is the highly accurate, continuous determination of position, velocity and orientation of a vehicle from sensor measurements. Knowledge of the kinematic states of a platform is essential for all guidance and control in air, sea and space applications. By fusing complementary navigation methods in a so called integrated navigation system, the advantages of different technologies can be unified into a single system, while their individual disadvantages can be avoided. A MATLAB toolbox for an integrated IMU/GPS navigation system will be developed within the execises to illustrate the results of the lecture.

Lecture topics:
- Introduction & Geodesy
- Inertial Navigation Sensors
- Inertial Navigation Algorithms
- Integrating IMU Algorithms
- Navigation Error Propagation
- Stochastic Sensor Error Processes
- Satellite Navigation
- Navigation System Theory
- Multi-Sensor Multi-Frequency Data Fusion
- Integrated Navigation Systems
This interdisciplinary module aims at students and doctoral candidates of different fields (Mechanical engineering, mathematics, electrical engineering, geodesy), who like to gain expert knowledge in the field of navigation.
Interest in higher and applied mathematics is required. Previous knowledge of Matlab is required for attending the exercise. A computer with Matlab is required to work on the exercises independently. In addition, a visit to the module "Flight System Dynamics 1" or " Introduction to Flight System Dynamics and Flight Control" is recommended.
After participating in the module, students will be able to understand both the mathematical theory and the operational algorithms needed to develop highly accurate integrated navigation systems. After attending the course, the students gained an insight into how data from various sensors (accelerometers, gyros, GPS, barometers, magnetometers, optical sensors,...) are merged to calculate position, speed and position in modern navigation systems and get a feeling for the difficulties involved.
  • German
  • English
calculation exercises
In the exercise, the contents conveyed in the lecture are applied practically and illustrated with the help of simulations. In addition, the participants are given tasks. These can be worked on during the exercise or voluntarily until the next exercise. The provided algorithms can be used as a starting point for further research.
Für die Anmeldung zur Teilnahme müssen Sie sich in TUMonline als Studierende*r identifizieren.
Note: Personal registration by e-mail (Christopher Blum) is required.
- Jekeli, Christopher, Inertial navigation systems with geodetic applications, de Gruyter, 2001
- Lawrence, Anthony, Modern inertial technology, Springer, 1998
- Titterton, David H. and Weston, John L., Strapdown inertial navigation technology, 2004
- Groves, Paul D., Principles of GNSS, inertial, and multisensor integrated navigation systems, Artech House, 2008
- Minkler, Gary and Minkler, J., Theory and application of Kalman filtering, Magellan Books, 1993
- Parkinson, Bradford W. and Spilker, James J., Global Positioning System, AIAA, 1996
- Kaplan, Elliott D. and Hegarty, Christopher J., Understanding GPS, Artech House, 2006
- Leick, Alfred, GPS satellite surveying, Wiley, 2004
-Merhav, Shmuel, Aerospace sensor systems and applications, Springer, 1996
Online information
course documents
Please bring your notebook to the exercise, if available.
The exercises requires a MATLAB (or Octave) installation.