Integrated Navigation and Guidance Systems

249 Pages·1999·12.284 MB·English

by  Daniel J. Biezad

Integrated Navigation and
Guidance Systems
Daniel J. Biezad
QED Educational Services
&A1AA
EDUCATION SERIES
J. S. Przemieniecki
Series Editor-in-Chief
Air Force Institute of Technology
Wright-Patterson Air Force Base, Ohio
Published by
American Institute of Aeronautics and Astronautics, Inc.
1801 Alexander Bell Drive, Reston, VA 20191
MATLAB™ is a registered trademark of The Math Works, Inc.
American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia
1 2 3 45
Library of Congress Cataloging-in-Publication Data
Biezad, Daniel J., 1944-
Integrated navigation and guidance systems / Daniel J. Biezad
p. cm.—(AIAA education series)
Includes bibliographical references and index.
1. Aids to air navigation. 2. Guidance systems (Flight)
I. Title II. Series.
TL695.B54 1999
629.132'51-dc21 98-54413
ISBN 1-56347-291-0 (alk. paper)
Copyright © 1999 by the American Institute of Aeronautics and Astronautics, Inc. All rights
reserved. Printed in the United States of America. No part of this publication may be repro-
duced, distributed, or transmitted, in any form or by any means, or stored in a data base or
retrieval system, without the prior written permission of the publisher.
Data and information appearing in this book are for informational purposes only. AIAA is not
responsible for any injury or damage resulting from use or reliance, nor does AIAA warrant
that use or reliance will be free from privately owned rights.
AIAA Education Series
Editor-in-Chief
John S. Przemieniecki
Air Force Institute of Technology (retired)
Editorial Board
Earl H. Dowell Michael L. Smith
Duke University U.S. Air Force Academy
Eric J. Jumper Peter J. Turchi
University of Not re Dame Ohio State University
Robert G. Loewy David M. Van Wie
Georgia Institute of Technology Johns Hopkins University
Michael N. Mohaghegh Anthony J. Vizzini
The Boeing Company University of Maryland
Conrad F. Newberry Jerry Wallick
Naval Postgraduate School Institute for Defense Analysis
Terrence A. Weisshaar
Purdue University
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Foreword
Integrated Navigation and Guidance Systems textbook by Daniel J. Biezad is
a comprehensive exposition of the modern navigation and guidance sysems for
flight vehicles. It represents a novel approach to teaching an aeronautical engi-
neering course as a comprehensive and integrated exposure to several interrelated
disciplines combined with laboratory computer exercises for the students. The
text reflects years of teaching experience of the author, while with the Air Force
Institute of Technology and California Polytechnic State University, and his pio-
neering work on the Global Positioning System while on active duty with the U.S.
Air Force.
Chapter 1 presents the basic principles of navigation and the concept of an
integrated navigation system. Chapter 2 discusses Newton's laws applied to nav-
igation, including the concept of geodesies, basic reference frames, simplified
aerospace vehicle equations, and the two types of navigation: Inertial Navigation
System (INS) and Global Positioning System (GPS). Chapter 4 introduces the
concept of uncertainty in navigation, INS error propagation, probabilities, auto-
correlation, and the method of least squares. Chapter 5 discusses practical Kalman
filters and their key role in the integration of aircraft avionics systems. Chapters
6 and 7 provide a complete description of the underlying theory for the global
positioning system and its application to navigation, including a discussion of the
system accuracy. Chapter 8 deals with GPS applications to precision approach and
landing, attitude control, and air traffic control. Chapter 9 describes flight testing
of navigation systems. Finally, Chapter 10 provides computer exercises for error
analysis and Kalman filter simulation using the software provided with this text.
The software is provided as single, self-extracting file executable from either the
Windows or DOS modes.
The Education Series of textbooks and monographs published by the American
Institute of Aeronautics and Astronautics embraces a broad spectrum of theory
and application of different disciplines in aeronautics and astronautics, including
aerospace design practice. The series also includes texts on defense science, engi-
neering, and management. The complete list of textbooks published in the series
(over sixty titles) can be found on the end pages of this volume. The series serves
as teaching texts as well as reference materials for practicing engineers, scientists,
and managers.
J. S. Przemieniecki
Editor-in-Chief
AIAA Education Series
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Table of
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. xi
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. xiii
Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. xv
Chapter 1. Navigation over Earth's Surface . . . . . . . . . . . . . . . . . . .. 1
1.1 Basic Principles of Navigation and Position Fixing ............. 1
1.2 Air Navigation Radio Aids . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
1.3 Flight Management for Situational Awareness ............... 10
1.4 Closure.......................................... 13
Chapter 2. Newton's Laws Applied to Navigation . . . . . . . . . . . . . .. 15
2.1 Math Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 16
2.2 Geodetics and Basic Reference Frames . . . . . . . . . . . . . . . . . . .. 20
2.3 Simplified Aerospace Vehicle Equations . . . . . . . . . . . . . . . . . .. 25
2.4 Fundamental Navigation Equation . . . . . . . . . . . . . . . . . . . . . .. 29
2.5 Inertial Navigation System Solution—A Preview ............. 32
2.6 Global Positioning System Solution—A Preview ............. 35
2.7 Closure.......................................... 38
Chapter 3. Inertial Navigation Sensors and Systems . . . . . . . . . . . .. 39
3.1 Aircraft Gyroscopic Flight Instruments . . . . . . . . . . . . . . . . . . .. 40
3.2 Inertial Instrumentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 45
3.3 Inertial Platform Mechanizations . . . . . . . . . . . . . . . . . . . . . . .. 53
3.4 Attitude-Heading Reference Systems . . . . . . . . . . . . . . . . . . . .. 70
3.5 Closure.......................................... 71
Chapter 4. Concept of Uncertainty in Navigation................ 73
4.1 Inertial Navigation System Error Propagation Equations ........ 74
4.2 Probability Concepts in Navigation ....................... 82
4.3 Least Squares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 91
4.4 Closure.......................................... 93
Chapter 5. Kalman Filter Inertial Navigation System
Flight Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 95
5.1 Preliminaries ...................................... 96
5.2 Kalman Filter: Discrete Case Derivation ................... 97
5.3 Kalman Filter Divergence ............................ 101
IX