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. [6Hrs]
Basic concepts of inertial navigation, Sensors, IMU, gyroscope, GPS, DVL, radar, star trackers. [6Hrs]
Concept of sensor fusion Sensor-error analysis [4]
Way-point guidance, line of sight guidance, optical and microwave beam riding Homing guidance: Proportional navigation, modified proportional navigation [6Hrs]
Coupling between different degrees of freedom, Decoupled Autopilot design for Roll stabilization and lateral stabilization of missiles. [6Hrs]
Trajectory tracking and maneuvering PID-Control and Acceleration Feedback LQR control Integrator backstepping Control allocation.[6Hrs]

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.

At the end of the course, students will be able to demonstrate
(I) the fundamental knowledge of rigid-body dynamics.
(ii) various sensor fusion techniques.
(II) linear/nonlinear techniques to synthesize navigation rules
(iv) guidance control algorithms for aerospace and underwater vehicles.

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

A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and Control, Springer , 1998

G. M. Siouris, Missile Guidance and Control Systems, CRC Press , 2004