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Visit the PLANS 2008 website at www.plansconference.orgIEEE/ION PLANS 2006 TUTORIALSTutorials will be offered in half-day sessions on Monday, April 24.
Click on course titles for detailed information and instructor biographies. MONDAY MORNING, APRIL 24, 8:30am-Noon Fundamentals and Details of Satellite Navigation Using GPS Network-Based RTK GPS and Precise Point Positioning MEMS Inertial Technology: A Short Course GPS Protection Toolbox: Picking the Right Technology for Interference Suppression
MONDAY AFTERNOON, APRIL 24, 1:30pm-5:00pm Low-Cost INS Fundamental Issues Affecting GPS/INS Integrations Aviation Augmentations to GPS Navigation Software
MONDAY, APRIL 24, 8:30am-Noon Course Description This course emphasizes the fundamentals of satellite navigation with emphasis on GPS. The course will begin with an introduction of the GPS Segments (space, control, and user) followed by a discussion of various coordinate frames and datum’s used in the application of satellite navigation systems. Details of the GPS signal structure formats for current and future signals will be presented and discussed. Details on the calculation of the GPS space vehicle (SV) position using the broadcast Kepler parameters and user state (i.e., position and time) with associated performance parameters (i.e., dilution of position terms) will be presented. Atmospheric and other error sources will be presented. Receiver and antenna technologies will briefly be discussed. An introduction to differential GPS (DGPS) will be presented illustrating various ways to implement it. Various applications of GPS and DGPS as well as future trends in satellite navigation will be discussed at the conclusion of this course. Course Outline
Instructor Biography Dr. Chris Bartone , P.E., is an associate professor at Ohio University. He received his Ph.D. in Electrical Engineering from Ohio University in 1998; he holds an MSEE from the Naval Postgraduate School (1987) and a BSEE from Penn State (1983). Chris worked for the Naval Air Warfare Center-Aircraft Division performing research and development on communication, navigation, and surveillance (CNS) systems for over sixteen years. At NAWC-AD, he was the program manger of the Air Combat Environment Test and Evaluation Facility, Communications, Navigation, and Identification Laboratory. At Ohio University, Dr. Bartone developed a number of graduate-level classes on GPS, radar, and wave propagation; his research concentrates on all aspects of navigation. He received the RTCA William E. Jackson Award in 1998 for his outstanding contributions to aviation. He is a member of the ION, the IEEE, the AIAA, and the Association of Old Crows. He has served on the ION Council as air representative and is the current eastern region vice president. He has helped organize many ION conferences, including program and general chair for the ION GNSS 2005 and 2006, respectively. Dr. Bartone is a licensed engineer.
MONDAY, APRIL 24, 8:30am-Noon
Course Description The instantaneous long-range real-time kinematic (RTK) technique is the most challenging GPS data reduction method. As the base-rover (kinematic user) separation increases, many distance-dependent biases, such as atmospheric or orbital errors, may become significant even in differential mode, which complicates the ambiguity resolution process. This, in turn, may seriously corrupt the positioning and time transfer results, unless these effects are properly accounted for. The success of precise GPS positioning over long baselines depends on the ability to resolve the integer phase ambiguities when short observation time spans are required, which is especially relevant to RTK applications. Over the past few years, the use of a GPS reference station network approach has shown great promise in extending receiver separation. The implementation of multiple reference stations in a permanent array offers several advantages over the standard single-baseline approach. It improves the accuracy and reliability of the mobile receiver positioning, and makes the results less sensitive to the length of the baselines, at the same time acting as a filter for lower quality measurements coming occasionally from some stations. Moreover, the availability of high-accuracy GPS satellite orbits and clock corrections, provided by the International GPS Service (IGS), and atmospheric corrections, broadcast by local or regional networks, such as the Continuously Operating Reference Station (CORS) networks, makes Precise Point Positioning (PPP) competitive among other positioning methods. PPP can provide an interesting alternative to relative positioning applications, in particular in geodesy, surveying and navigation, enabling precise positioning with a single-receiver (i.e., low-cost), providing independence on any reference station (except for the broadcast correction source). The PPP applications are not limited by baseline length, and can be applied to different platforms, i.e., static and kinematic. Both PPP and network-based RTK enable the use of single-frequency receivers. It may be expected that centimeter-level accuracies will be achievable in RTK PPP mode in the future (current accuracy is at decimeter level), especially after GPS modernization is fully implemented (improved signal quality, additional frequency, etc.), offering a more attractive and economic alternative to traditional methods. This course will provide an overview of network-based RTK and PPP techniques, including algorithms and methods, as well as the description and performance assessment of the available orbital, timing and atmospheric corrections and models, with a special emphasis on ionosphere modeling. Practical examples based on the Ohio CORS network data and a demonstration of the MPRGPS TM software package developed at the Ohio State University will be offered. Course Outline Why network-based RTK?
Network-based atmospheric error modeling
Rover solution based on the network-based corrections
Applicability of external ionospheric model to the rover solution Precise Point Positioning (PPP): concept and theoretical background
Biography Dr. Dorota Brzezinska is an associate professor in Geodetic and Geoinformation Science at The Ohio State University (OSU). Her research interests cover GPS algorithms and applications, ionosphere and troposphere monitoring with GPS, network-based RTK, orbit determination for GPS/LEO, GPS/INS integration, multi-sensor integration, direct georeferencing methods, and robust estimation techniques. She is the 2003-2005 land representative for the ION Council, chair of the ION Outreach Committee's subcommittee on cooperation with other professional societies, chair of the International Association of Geodesy (IAG) Sub-Commission 4.1, Multi-sensor Systems, co-chair of IAG Study Group 4.1, Pseudolite Applications in Positioning and Navigation, and chair of Task Force 5.3.1, Mobile Mapping Systems of the International Federation of Surveyors (FIG) WG 5.3. She is a recipient of the OSU College of Engineering 2003 Lumley Research Award, the ION GPS Best Paper Award in 1998, 2002 and 2004, The Ohio State University Heiskanen Senior and Junior Awards (2001 and 1993), 2000 NASA NIP Award, 2005 ESRI Award for Best Scientific Paper in Geographic Information Systems, and 2005 U.S. Geospatial Intelligence Foundation (USGIF) Research Achievement Award.
MONDAY, APRIL 24, 8:30am-Noon Course Description This course will present an overview of how the micro-electro-mechanical systems (MEMS) technology is revolutionizing the inertial guidance navigation and control (GN&C) industry. Suitable for those new to the MEMS and inertial disciplines, this course will also be of interest to more experienced practitioners as it will cover an overview of basic inertial sensing principles, detailed discussion of MEMS gyroscope and accelerometer designs, and MEMS fabrication and sensor packaging technologies. Current industry trends will be discussed along with examples of MEMS inertial technology in the commercial, military and space sectors, including advanced systems which integrate inertial MEMS with GPS. This course will be of interest to R&D, systems and manufacturing engineers, managers and executives, and will conclude with a discussion on the future direction of MEMS technology. Course Outline
Biography Ralph Hopkins is a principal member of the technical staff and group leader in the Guidance Hardware Division at Draper Laboratory where he is responsible for the design and development of inertial instruments and sensors. Currently Mr. Hopkins is technical director of the silicon oscillating accelerometer development program, a high performance silicon MEMS VBA targeted for strategic grade applications. He has also led, and contributed to, the development of navigation and tactical grade MEMS gyroscopes and accelerometers, and high performance electro-mechanical inertial sensors such as floated instruments and dynamically tuned gyros. Mr. Hopkins holds several patents, has authored several papers and is an invited speaker for short course tutorials on inertial instruments and inertial technology. He holds s a BS and ME in Mechanical Engineering from Rensselaer Polytechnic Institute, an ME in Engineering Mechanics from Columbia University, and an MS in Engineering Management from The Gordon Institute of Tufts University. He is a current member of the AIAA Guidance Navigation and Control Technical Committee.
MONDAY, APRIL 24, 8:30am-Noon Course Description This tutorial reviews the various technologies that are both currently implemented and proposed to mitigate the effects of jamming and unintentional interference on GPS signal reception and navigation. The performance benefits and limitations of each technology will be presented. The building blocks of anti-jam techniques are discussed, including receiver spread spectrum processing, adaptive antenna arrays and associated control electronics, miniature arrays, adaptive digital filters, and signal processing algorithms, including space-time and space frequency adaptive processing. Techniques and metrics used to characterize each major component of interference suppression systems and overall GPS system anti-jam performance are described. Course Outline
Instructor Biography Dr. Ira M. Weiss is a senior engineering specialist for the Aerospace Corporation in El Segundo, California in the Communication Systems Engineering subdivision. He has worked in GPS related areas for over 25 years, lectured and taught seminars on GPS, and written many papers in the areas of GPS systems aspects, anti-jam, and waveform utilization. He directed simulation tasks, as part of the NAVWAR modeling effort, investigating advanced GPS receiver antenna performance, and has participated in acquisition and testing of GPS anti-jam adaptive antenna systems. Allen W. Morrison is an assistant vice president for technology for Science Applications International (SAIC). Over the past 37 years, Mr. Morrison has worked extensively in the application of digital signal processing techniques for interference mitigation in submarine and satellite communication systems and GPS-based navigation systems. For the past 14 years, he has been involved in the requirements definition, simulation, evaluation, acquisition, fabrication, and testing of many variants of adaptive spatial, temporal, and spectral filters to support NAVWAR objectives for enhancing GPS receiver performance in the presence of interference. He has a BSEE from the Polytechnic Institute of Brooklyn, MSEE from Rensselaer Polytechnic Institute, and MA in Public Administration from University of Northern Colorado Extension.
MONDAY, APRIL 24, 1:30pm-5:00pm Course Description This course focuses on the INS system. It complements related courses (such as Fundamental Integration, MEMS Inertial Technology) by defining all tools (digitization, synchronization, sampling, algorithms) that convert raw MEMS data to familiar nav system outputs (attitude/velocity/position). The processes can differ in some important ways from corresponding steps common to current INS approaches. That is fortunate, since the differences considerably enhance comprehension; while current methods are not universally understood, procedures given herein will be transparently clear to all. Van and flight results algorithms will be presented with test data from Ohio University. Course Outline
Biography Dr. James L. Farrell (MS, UCLA, 1961; Ph.D., U of MD, 1967) is a member of ION, senior member of IEEE, former local board member of AIAA, registered professional engineer in Maryland, and a member of various scholastic honorary fraternities. Technical experience includes temporary teaching at Marquette and UCLA, two years each at Minneapolis Honeywell and Bendix-Pacific, and 31 years at Westinghouse in design, simulation, and validation/test for modern estimation algorithms in navigation and tracking applications and also digital communications system design (synchronization, carrier tracking, decode). He is author of the book, Integrated Aircraft Navigation (Academic Press, 1976), former columnist at Washington Technology, and has written over 80 journal or conference manuscripts. Teaching activity over the past two decades include Navtech Seminars and self-sponsored courses at ION-GPS and at IEEE PLANS. Active in RTCA for several years, he served as co-chair of Working Group #5 (Fault Detection and Isolation) within Special Committee SC-159 for GPS Integrity. As president and technical director of VIGIL INC. in Severna Park, MD., he has continued his teaching (on University campus as well as in both industry and conference seminars) and consulted for private industry, DoD, and university research.
MONDAY, APRIL 24, 1:30pm-5:00pm Course Description The integration of GPS with an inertial navigation system improves the quality and integrity of each navigation system: use of GPS permits calibration of inertial instrument biases, and the INS can be used to improve the tracking and reacquisition performance of the GPS receiver. This course will first review the basics of Kalman filtering, and categorize approaches applied to GPS/INS integration. Kalman filter modeling issues will be examined; GPS receiver assistance, in the form of both acquisition and tracking aid, will also be reviewed. Course Outline Introduction to GPS/INS Integration
Kalman Filter Design Issues
GPS Receiver Assistance
Biography G. Jeffrey Geier is currently an engineering fellow at in Raytheon Missile Systems Navigation Design Department, examining methods for geolocation GPS interference sources. Previously, he was a distinguished member of the technical staff with Motorola's Personal Communications Sector Research Lab, involved in GPS receiver technology development for Motorola cellular phones. He has designed the integrity monitoring algorithms used in Motorola's timing and aviation GPS products, and has led efforts to integrate Motorola's core GPS receiver with automotive sensors for emergency messaging applications. Previously, at Trimble Navigation, Mr. Geier was an engineering manager working on integrating GPS with low cost dead reckoning sensors for vehicle tracking applications, and improving the accuracy and integrity of Trimble's real-time differential GPS positioning systems. Prior to working at Trimble, Mr. Geier had spent more than 20 years in GPS navigation and signal processing, inertial navigation systems, and aircraft and spacecraft control system design, with Aerospace Corporation, TASC, and C.S. Draper Laboratory. He received his B.S. and M.S. degrees in Aeronautics and Astronautics at M.I.T., and is a member of AIAA, IEEE and ION. Mr. Geier is a former instructor for NavTech Seminars, teaching "Integration of GPS with Inertial Navigation Systems" for 10 years, and has taught short courses in GPS integration with low cost sensors at the University of Calgary. . He is a co-author of the textbook Understanding GPS: Principles and Applications, and holds 28 navigation related patents.
MONDAY, APRIL 24, 1:30pm-5:00pm
Course Description The Global Positioning System (GPS) is relied upon extensively today for air navigation. To support the use of GPS for such applications, the international community has developed three classes of augmentation systems: aircraft-based (ABAS), satellite-based (SBAS), and ground-based (GBAS). This tutorial provides an introduction to these classes of aviation augmentations to GPS. After a discussion of operational requirements for air navigation and the deficiencies of stand-alone GPS in meeting these, the three classes of aviation augmentations are described. Examples of currently operating and planned systems within each class are presented, e.g., RAIM, FD, FDE, WAAS, LAAS, EGNOS, MSAS and GAGAN. Relevant domestic and international standards, and certification guidance materials are summarized. Attendees are assumed to have a basic understanding of the methods of position determination using GPS. Course Outline Introduction
Aviation augmentations
Practical aspects
Biography Dr. Chris Hegarty been involved with aviation applications of GPS at MITRE’s Center for Advanced Aviation System Development since 1992. He is a member of RTCA’s Program Management Committee, co-chair of RTCA Special Committee 159, and editor of NAVIGATION: The Journal of the Institute of Navigation. He was a co-recipient of the 1998 ION Early Achievement Award and the recipient of the 2005 ION Johannes Kepler Award. He is currently serving as the eastern region vice president of the ION.
MONDAY, APRIL 24, 1:30pm-5:00pm Course Description Facility with software that performs navigation algorithms is a critical skill for navigation systems engineers. This course describes and provides software, mostly in MATLAB, to perform many key navigation functions. These include: a) a kinematically correct trajectory generator; b) time conversion functions; c) coordinate conversion functions; d) GPS ephemeris, solution, path loss, troposphere, ionosphere, relativistic functions; e) strapdown inertial navigation algorithms; and f) gravity routines and several others. The course shall include examples and applications for the software. Students will receive, where applicable, a CD ROM of the navigation software. Course Overview
Biography Marvin B. May is the chief navigation technologist at ARL Penn State’s Navigation Research and Development Center in Warminster, PA where he also manages their navigation education program. He has a BSEE from City College of NY and a MS from New York University, doctoral courses at Polytechnic Institute and is a professional engineer. He is an adjunct professor at several universities and teaches master’s degree and sponsor directed navigation courses for the Penn State University. He is a recognized navigation specialist with expertise in GPS, inertial and geophysical navigation. During his navy career he has worked at the Navy’s Navigation Laboratory of the Naval Command, Control and Ocean Surveillance Center (NCCOSC), and his experience includes eight years as chief analyst for GPS responsible for satellite navigation systems analysis, laboratory testing and integration issues. May has served as chair of the Greater Philadelphia Chapter and is the national marine navigation representative and historian of the Institute of Navigation. He has written numerous articles on navigation and has served on high-level navigation committees.
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Fundamentals and Details of Satellite Navigation Using GPS 
Network-Based RTK GPS and Precise Point Positioning 
MEMS Inertial Technology: A Short Course 
GPS Protection Toolbox: Picking the Right Technology for Interference Suppression 
Low-Cost INS 
Fundamental Issues Affecting GPS/INS Integrations 
Aviation Augmentations to GPS
Navigation Software