Course Details
Subject {L-T-P / C} : EE6344 : Guidance, Navigation and Control { 3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Asim Kumar Naskar
Syllabus
Concept of body axis and inertial axis Euler angle and quaternion 6 DOF equation of motion of a rigid body object in air and water. Basic concepts of inertial navigation, Sensors, IMU, gyroscope, GPS, DVL, radar, star trackers Concept of sensor fusion Sensor-error analysis Way-point guidance, line of sight guidance, optical and microwave beam riding Homing guidance: Proportional navigation, modified proportional navigation Coupling between different degrees of freedom, Decoupled Autopilot design for Roll stabilization and lateral stabilization of missiles Trajectory tracking and maneuvering PID-Control and Acceleration Feedback LQR control Integrator backstepping Control allocation.
Course Objectives
- Students will have an appreciation of the necessity and difficulty of using different techniques used in the guidance navigation and control of autonomous air and water vehicles.
Course Outcomes
At the end of the course, students will be able to <br />(I) Understand the fundamentals of the rigid-body dynamics, various guidance and navigation technique. <br />(II) Use linear/nonlinear techniques to synthesize navigation, guidance and control algorithms for aerospace and under water vehicles.
Essential Reading
- C, F, Lin, Modern navigation, guidance, and control processing, Prentice Hall , 1991
- Thor I. Fossen, Marinei Control Systems: Guidance/ Navigation and Control of Ships/ Rigs and Underwater Vehicles, Marine Cybernetics , 2002
Supplementary Reading
- A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and Control, Springer , 1998
- G. M. Siouris, Missile Guidance and Control Systems, CRC Press , 2004