degree programme in robotics and automation engineering
Prof.: Lorenzo Pollini
The student who successfully completes the course will have the ability to analyze and design guidance and navigation systems; in particular with respect to inertial navigation system, integrated navigation systems and guidance systems for unmanned vehicles. The student will also be able to demonstrate a solid knowledge of inertial instruments like accelerometers, gyroscopes both in their classical configuration then in modern MEMS technology.
The specific topics of the course are: the principles of navigation by inertial, celestial, and radio (including GPS) methods, the principles of guidance and control of 6-DOF motion, the characteristics and noise models of sensors, and the dynamic behavior of controlled and guided systems. Particular emphasis is given to integrated navigation systems and guidance techniques for unmanned vehicles. Tools acquired during the course: kinematics and dynamics of 6-DOF motion, inertial sensors (gyroscope and accelerometers) modeling and mechanization, GPS and GNSS navigation, principles of Geodesy and the WGS-84 datum, probability, random processes, and the Kalman Filter, classical and advanced guidance techniques, path planning and trajectory tracking.
face to face
Recommended reading includes the following books:
- Zarchan Paul, Tactical and Strategic Missile Guidance, AIAA Progress in Aeronautics and Astronautics, Vol. 199, 2002.
- Lin Ching Fang, Modern Navigation, Guidance, and Control Processing, Prentice Hall, 1991.
- Fossen Thor, Guidance and Control of Ocean Vehicles, John Wiley & Sons, 1995.
- Fossen Thor, Marine Control Systems, Marine Cybernetics 2003.
- Rogers Robert, Applied Mathematics in Integrated Navigation Systems, AIAA Education Series, 2000.
- Titterton and Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd, 1997.
The student will be assessed on his/her demonstrated ability to discuss the main course contents using the appropriate terminology. In addition the student will prepare a written report on an implementation/practical topic assigned him/her at the end of the year. The student will then discuss orally the report and must demonstrate the ability to put into practice and to execute, with critical awareness, the activities illustrated or carried.
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