Personal/CV/2013-04 Seminar Contents

This is a supplement to my CV.

Concerns:	Seminar “Navigation and Data Fusion” (Certified Training) (April 2013) Technische Universität München (TUM) in Cooperation with MBDA Missile Systems, Garching, Germany

Seminar Contents:

• Geodesy
  • Geodetic Datum: Historical and Current Earth Ellipsoids
  • Geometrical Figure of the Earth: Cartesian, Spherical, Geodetic and (Spatial) Ellipsoidal Coordinates, Ellipsoid of Revolution, Curvatures of an Ellipsoid of Revolution,
  • Physical Figure of the Earth: Integral Gravitation Field Equation, Differential Gravitation Field Equations, Laplace vs. Laplace-Beltrami Operator, Surface Harmonics, Earth's external Gravitational Potential
  • Earth Gravity Model 1996 (EGM96): Introduction, Normalized EGM96 Gravitational Coefficients truncated at $n = m = 9$, WGS84 EGM96 Geoid, The Geoid as Reference Surface for Heights, Example: Deflection of the Vertical
  • Gravity Field of an Equipotential Ellipsoid of Revolution (Level Ellipsoid): Gravity Potential Field as (Truncated) Spherical Harmonics Series Expansion, Gravity Vector and Gravity Vector Gradient Truncated After $J_2$ and $J_4$ Term, Exact Closed-Form Solution in Ellipsoidal Coordinates, Derivation of Somigliana's Formula, Exact Formula of Somigliana, Free Air Reduction of Altitudes < 30 km, Evaluation and Residuals of Normal Gravity Formula, Somigliana (Normal) Gravity Gradient in n-Frame, Evaluation of WGS84 Gravity Vector Gradient
  • World Geodetic System 1984 (WGS84): WGS84 Datum and Refinements, Defining Parameters, Derived Geometric Constants, Derived Physical Constants
• Inertial Navigation Sensors
  • Sensor Technologies
    • History
    • Platform Systems vs. Strapdown Systems
    • Accelerometers: Principle, Sensor Errors, Mechanical Pendulous Accelerometer, Micro-Electromechanical Pendulous Accelerometers, Performance Overview
    • Gyroscopes: The Sagnac Effect, Ring Laser Gyro (RLG), Fiber-Optic Gyro (FOG), Performance Overview
  • IMU Calibration: Introduction, Models and Governing Equations for Accelerometer Sensor Errors, Accelerometer Calibration Example, Assessment of Required Calibration Lab Setup Accuracies, High-Precision Turn Table, Industrial Robot Calibration, Models and Governing Equations of Gyroscope Sensor Errors, Gyroscope Calibration Example
  • Stationary Alignment: Leveling, Gyro Compassing, Stationary Alignment in Polar Regions, Influence on Attitude of IMU Error Propagation, IMU Classification, Tactical and Navigation Grade IMUs
• Inertial Navigation Algorithms
  • Reference Frames
  • Derivation of the Strapdown Inertial Navigation ODEs
  • Conventional Rotation Parameters
  • Parameterizations of the Group of Rotation Matrices
  • Parameterized Orientation Differential Equations
  • Strapdown Inertial Navigation ODEs for Non-Integrating IMUs
  • Numerical Integration of Ordinary Differential Equations
  • All-Earth Navigation: Motivation, Introduction of Local Quaternions, Alternatives to the North-Indicating n-Frame, The Free Azimuth Horizontal Wander Frame
• Integrating IMU Algorithms
• Navigation Error Propagation
• Stochastic Sensor Error Processes
• Satellite Navigation
• Navigation System Theory
• Multi-Sensor Multi-Frequency Data Fusion
• Integrated Navigation Systems