Moses - Integrated Aircraft Navigation

Display language

To modulepage Generate PDF

Module / Version:
#50477 / #4

Validity:
Seit SoSe 2021

Default display language:
English

Module title:
Integrated Aircraft Navigation

Credits:
6

Responsible person:
Uijt de Haag, Maarten

Grading:
benotet

Type of exam:
Portfolioprüfung

Zugehörigkeit

Faculty:
Fakultät V

Institute:
Institut für Luft- und Raumfahrt

Area of expertise:
35341700 FG Flugführung und Luftverkehr

Prüfungsausschuss:
Verkehrswesen

Kontakt

Office:
F 3

Contact person:
Uijt de Haag, Maarten

E-mail address:
maarten.uijtdehaag@tu-berlin.de

Website:

http://www.ff.tu-berlin.de

Learning Outcomes

After successful completion of the course, students have: Knowledge: • Overview of the categories of navigation and position-fixing systems • Review of some basic nav systems: DME, VOR, GNSS, Inertial navigation. systems (INS) • Definition of navigation performance parameters: accuracy, integrity, availability and continuity • Overview of the navigation requirements for various applications and phases of flight for manned and unmanned aircraft (UAS) • Various approaches to integrated navigation and sensor fusion • Basics of estimation theory in the context of navigation • Kalman filters: linearized and extended • Integration mechanizations: DME/DME, DME/INS, GNSS/INS • Other non-linear estimators: unscented Kalman filter (UKF) and particle filters (PF) • Laser-based navigation and laser-scan matching • Visual odometer (VO) and Visual inertial odometer (VIO) • Simultaneous Localization and Mapping (SLAM) Skills: • Know how to setup measurement equations and dynamics models for various integration approaches • Know how to setup a basic integration mechanization (using EKF and PF) or SLAM architecture • Implement these algorithms in a programming tools such as Matlab or Python • Assess the required navigation performance (e.g. accuracy and availability) of the integrated navigation system Competencies: • Identify sensors or navigation aids that could be integrated to meet certain navigation performance requirements • Address the role of integrated navigation in flight guidance for manned aircraft, unmanned aircraft systems (UAS) and urban air mobility (UAM) • Solve integrated navigation problems working in small groups

Content

Lecture: • Review of some basic nav systems: DME, VOR, GNSS • Definition of navigation performance parameters: accuracy, integrity, availability and continuity • Required navigation performance and performance based operation for manned and unmanned aircraft • Benefits of integrated navigation and sensor fusion • Basics of estimation theory in the context of navigation • Linear, Linearized, and Extended Kalman filters (KF, LKF, EKF) and its performance analysis • Integration mechanizations: DME/DME, DME/INS, GNSS/INS • Unscented Kalman filter (UKF) and particle filters (PF) • Laser-based navigation and laser-scan matching • Visual odometer (VO) and Visual inertial odometer (VIO) • SLAM, SLAM using EKF and PF, graph-based SLAM • Occupancy grids Tutorials: • Calculate positions using multiple navigation sensors with KF and EKF: DME/INS, GNSS/INS • Use laser scanners data to estimate change in position • Integrated laser scanners data with inertial measurements • Estimate change in position using monocular cameras • Compute the trajectory and generate a map of the environment at the same time

Module Components

Pflicht:

All Courses are mandatory.

Course Name	Type	Number	Cycle	Language	SWS	VZ
Advanced Aircraft Navigation	IV	3534 L 660	SoSe	English	4

Workload and Credit Points

Advanced Aircraft Navigation (IV):

Workload description	Multiplier	Hours	Total
Preparation and follow-up	15.0	8.0h	120.0h
Time of presence	15.0	4.0h	60.0h
			180.0h(~6 LP)

The Workload of the module sums up to 180.0 Hours. Therefore the module contains 6 Credits.

Description of Teaching and Learning Methods

Lectures: • Presentations with examples • Demonstrations • Guest lectures Tutorials: • Presentations with examples • Demonstrations Homework: • Working on individual homework in small groups

Requirements for participation and examination

Desirable prerequisites for participation in the courses:

• Flugführung und Luftverkehr - Grundlagen, Flugführung • Aircraft Navigation • Lineare Algebra, Analysis I • Differentialgleichungen • Kinematik und Dynamik

Mandatory requirements for the module test application:

This module has no requirements.

Module completion

Grading

graded

Type of exam

Portfolio examination

Type of portfolio examination

100 Punkte insgesamt

Language

English

Test elements

Name	Points	Categorie	Duration/Extent
Exam	50	written	No information
Homework/report	35	written	No information
Short Test	15	written	No information

Grading scale

Notenschlüssel »Notenschlüssel 2: Fak IV (2)«

Gesamtpunktzahl	1.0	1.3	1.7	2.0	2.3	2.7	3.0	3.3	3.7	4.0
100.0pt	95.0pt	90.0pt	85.0pt	80.0pt	75.0pt	70.0pt	65.0pt	60.0pt	55.0pt	50.0pt

Test description (Module completion)

Individual: • Written exam about entire course content (lecture and tutorials) • Written short testat about specific course content (lecture and tutorials) Group: • Homework/report

Duration of the Module

The following number of semesters is estimated for taking and completing the module:
1 Semester.

This module may be commenced in the following semesters:
Sommersemester.

Maximum Number of Participants

The maximum capacity of students is 60.

Registration Procedures

Registration for the course: • In first lecture or exercise Registration for the exam: • Registration via QISPOS • In exceptional cases via Examination Office Application deadlines can be found in the StuPo and / or will be announced.

Recommended literature
No recommended literature given

Assigned Degree Programs

Semester:

Zeige auch ausgelaufene Studiengänge und StuPOs

This module is used in the following Degree Programs (new System):

	Studiengang / StuPO	StuPOs	Verwendungen	Erste Verwendung	Letzte Verwendung
	Luft- und Raumfahrttechnik (M. Sc.)	1	11	SoSe 2021	SoSe 2024

Students of other degrees can participate in this module without capacity testing.

Miscellaneous

No information

Integrated Aircraft Navigation