EE 5853: Electronic Navigation Systems

Syllabus
Contact Information
Faculty: Wouter Pelgrum
Email: pelgrum@ohio.edu
Phone: (740) 597-1507
Office Hours: Tuesday & Thursday, 11:00-12:00 (Eastern time)
Course Communications
For general questions regarding any aspect of the course, or even specific questions
regarding a particular assignment, please use the "Course Q and A" discussion
forum. Frequently another member of the class will be able to provide a (correct)
answer more rapidly than the course instructor. I will, of course, monitor this
discussion and post answers (and post corrections to the responses of others if
necessary). By posting questions in this forum, the rest of the class benefits from
'hearing' the exchange.
Please email me only if the matter is personal/private in nature (e.g., "I don't
understand why you deducted 3 points from my answer on question 2 of the mid-
term"). Note: Questions that boil down to "How do you do the second exercise in this
week's assignment?" are NOT permitted and may be grounds for grade penalties.
Acceptable questions regarding assignments are typically centered on trying to
understand what the assignment is (e.g., "When the assignment says 'output the
value', does it mean 'echo it to the screen' or does it mean "use the 'disp' function?")
Any changes made to this syllabus (the course assignments, in particular), will be
communicated to the students via email.
Course Description
This course provides an introduction to the principles and theory of operation of various
electronic navigation systems, such as VOR, DME, Loran-C, and GNSS. The students
learn how to solve for position and velocity given a variety of measurement inputs, how
to identify and quantify various error sources, and how to propagate these error sources
from the measurement domain to the final position solution.
Prerequisite: Bachelors degree in Math, Science or Engineering; EE3334 (Linear
Signals and Systems) and/or EE 4703 / EE 5703 (communication engineering) or similar.
Course Objectives
After successfully completing this course, you will be able to:
Understand and apply radio communication principles to
electronic navigation
Solve engineering problems related to the design and analysis of
electronic navigation systems, and use MATLAB when
applicable.
Understand the earths geometry, various coordinate systems,
perform coordinate transformations, understand attitude, and
various map projections
Perform air-data calculations to determine airspeed and altitude
Propagate noise and bias errors from the measurement domain
to the position domain
Know and apply basic inertial navigation principles
Understand and apply basic signal modulation techniques and
signal propagation characteristics
Understand a variety of electronic navigation systems, such as
VOR, DME, TACAN, Loran-C, and GNSS, knowledge of how they
work, why there are designed the way they are, and in what
context they are or have been used.
Awareness of the ongoing development in electronic navigation
systems.
Textbooks
Required Texts
Principles of GNSS, Inertial, and Multisensor Integrated
Navigation Systems, 2
nd
Edition, Paul D. Groves. Artech House,
2013. ISBN-13: 978-1-60807-005-3
Software
MATLAB. The Ohio University Russ College of Engineering provides access to
MATLAB through a Virtual Desktop environment or you can purchase a student
version of the software.

OHIO's Virtual Desktop Environment
o This will allow you to use MATLAB free through a Virtual Desktop
environment provided by Ohio University. Once the Virtual Desktop is
install on your personal computer, MATLAB will be available on your
virtual desktop.
MATLAB Student Version
o A student version of MATLAB may be downloaded from The
MathWorks website at a greatly reduced price. You will need to Create
a MathWorks Account to download and install the student version.
(Note: A MathWorks account will also be needed to access instructional
videos used in the course.)
o You will need a letter from the instructor which can be provided by
your professor.
o You must download it from your home computer through your home
Internet. You will need to use your home email address for
registration.

Time Commitment
The course is organized into 14 modules. For each module, you will be assigned
readings from your textbook and occasional supplemental readings from outside
sources. The modules will also be composed of Screencasts (instructional videos)
prepared by your instructor. You will also have discussion board assignments and
weekly exercises.
As a student in this course, you need to allocate sufficient time to participate in
online activities and complete all assignments. For this 14 module course, you should
expect to spend a total of 8-13 hours per week for study and preparation time for
each module. The learning activities including chapter readings and instructional
screencasts should take 3-5 hours. Exercises should take you 4-6 hours. Also, plan
to spend 1-2 hours participating in the weekly module discussions.
Assignments
Exercises
Each module of the course will have assignments relevant to the topic discussed.
These assignments range from high-level system analysis, to mathematical
application of working principles, to the simulation of expected system performance.
You will also have MATLAB programming assignments with various modules. Detailed
instructions will be provided with each assignment
Assignments can be either typed and submitted as PDF, or hand-written, as long as
they are neat and readable, scanned and submitted as JPG or PDF. Projects need to
be typed and submitted as PDF. If Matlab code is requested as part of an
assignment of project it needs to be submitted as Matlab .m file.

Discussion Board Criteria
Students should submit one post in response to the initial question provided in each
module in which there is a discussion board. Then, students should submit at least
two other posts in response to classmates. Many of the module discussions are
moderated, which means that the instructor will first review all the student
responses before releasing them for peer review.
Class participation is an important expectation of this online course. Students are
expected to offer comments, questions, and replies to the discussion questions that
have been posed for each module as well as to classmate postings. Students are
expected to actively participate in each assigned discussion throughout the semester.
The instructor's role is as an observer and facilitator. Your instructor will read all
messages and participate in the discussion when appropriate.
Postings will be evaluated on the quality of the postings and the degree to which the
postings promote discussion with classmates. All postings should be substantial in
quality (not simply "I agree" or "I disagree"). Each discussion is worth a total of 5
points (Initial response plus two responses to classmates). Participation will be
evaluated on the scale below.
Initial Response
1 Point - Minimal response to the module question.
2 Points - Posting responds to the question but does not
stimulate further class discussion.
3 Points - Posting fully addresses the module question and
stimulates at least one substantial follow-up posting.
Response to Classmates (2 posts)
1 Point each - Substantial response to post from another
student.
Final Exam
There is one final exam. You will take the exam in a secure online format using the
Remote Proctor Now (RPNow) system. Note: There is a $15 fee for each exam.
Details on how to pay this fee are provided below and in the exams area of the
course.
The final exam is 2 hours. The exam is open book and open notes. The exam with
detailed instructions will be available in the Exams area of the course website. Note:
Your exam requires scanning your handwritten work and uploading in the exams
area of the course. A list of Document Scanner applications is provided in the
Technical Requirements section.
Remote Proctor Now (RPNow)
To further promote academic integrity, you will use Remote Proctor Now (RPNow)
when taking exams in your online course. Please follow the steps below when
preparing for and taking your exams. Further details are also provided in the Exams
area of the course. The general steps are as follows:
Step 1: RPNow Setup
Properly configure RPNow on your computer prior to taking EACH
of your online examinations. This process takes approximately
five minutes during which time it will check for a working
webcam, other applications that may be running (e.g., Skype
and other messaging applications can not be running during the
exam and wiil have to be shut down in order to proceed with the
exam setup), audio capabilities and the presence of multiple
monitors (You can only have one computer monitor running
during the exam). RPNow setup details are provided in the
Exams area of your online course.
Step 2: Verify Your Identity
Following the configuration of your computer, you will be asked
to verify your identity. Make sure to have your webcam ready
and identification (e.g., drivers license, OU student ID, passport,
etc.) available. This process takes approximately three minutes.
Step 3: Pay the Exam Fee ($15)
You will need to provide your credit card information to pay for
your exam. You can pay for one exam at a time or advance pay
for all the exams you will have in the course. Please have you
credit card available when you begin the exam setup process.
Step 4: Take Your Exam
Following the RPNow setup, ID verification and fee payment, you
will be directed back to the Blackboard login page. Login and
navigate to the exam in your Blackboard course and when
prompted, click Insert Exam Password at the top of your screen
and click Submit. Note: You will have five minutes to complete
this process. Failure to do so in the allotted time will require you
to repeat step 2. Take your exam, and remember to adhere to
the MSEE Online Exam Policy. Once you have submitted your
exam, RPNow will continue to record you until you click End
Exam and Exit Program to stop the recording.
Grading
Points and Percentages
Module
Point Values
Exercises Projects Discussion Exam
01: Principles of Navigation 10
02: Coordinate Systems 10
03: Air Data 10 5
04: Errors and Geometry 10
05: Error Propagation 35
06: Inertial Navigation 10 5
07: Signal Modulation 10 5
08: Signal Propagation 10
09: VOR and ATC 10
10: DME & TACAN 10 35 5
11: Loran-C 35 5
12: GNSS-1: System Description 10 5
13: GNSS-2 User Equipment 35
14: Applications and Future trends 10 5
Final Exam
Total 110 140 35 70

Assignment Point Value % of Grade
Exercises 11 @ 10 pts = 110 31%
MATLAB Projects 4 @ 35 pts = 140 39%
Discussion Boards 7 @ 5 pts = 35 10%
Final 70 pts 20%
355 pts 100%
Scale
Grade Scale
A 93.4 100%
A- 90 93.3%
B+ 86.7 - 89.9%
B 83.4 - 86.6%
B- 80 - 83.3%
C+ 76.7 - 79.9%
C 73.4 - 76.6%
C- 70 - 73..%
D+ 66.7 - 69.9%
D 63.4 - 66.6%
D- 60 - 63.3%
F 0 - 59.9%
Course Policies
Submission Deadlines
All assignment submissions and discussion posts are due according to the due dates
indicated in the course schedule.
Since this is an online course, it is up to you to keep up with the lessons, readings
and assignments. Late homework submissions will be accepted, however, there will
be a penalty that is proportional to the number of days that an assignment is
late. This is done to make sure that you are keeping pace with the material. This is
critical since much of the material builds on itself and if you get a few weeks behind,
it can be extremely difficult to catch up.
Make-Up Exams
Make-up exams will only be given to those with valid university absences such as
documented illness. In such cases, the student is to contact the instructor as soon as
is practicable to schedule a make-up exam.
Late Work
Late homework will be accepted up to one week after the due date but there will be
an automatic deduction of 4% for each day of tardiness (i.e., a perfect homework
submitted one day late will have a maximum grade of 96%, two days late 92%, etc).
Homework more than one week late will not be accepted without a valid university
absence (e.g., documented illness, etc).
Online Conduct/Netiquette
When communicating online, please remember that recipients of your message
cannot hear your voice or see your face. Please keep the following suggestions in
mind (from Chaminade College):
Be respectful of other participants, their time, their bandwidth,
and their opinions.
Remember that you are communicating with people who do not
have the advantage of seeing your body language or hearing
your voice inflections, and who may interpret your message
differently than you intended.
Using all caps may be interpreted as shouting.
Use humor or sarcasm carefully (we can't see the twinkle in your
eye); add emoticons to provide a visual representation of your
intent.
Keep your critiques constructive; antagonistic criticism is called
"flaming" and may cause an unwanted reaction.
Remember that you are judged by the quality of your writing.
Spelling and grammar do count.
Be coherent and succinct.
Be professional.
Technical Requirements
Recommended Browsers: Mozilla Firefox or Google Chrome. Certain versions of
Microsoft Internet Explorer are also supported. At this time, Explorer 10 running
under Windows 8 is not advised. For a full listed of supported Browsers, refer to the
following list: Browser support for Blackboard
Please check your browser using the following website:
o Browser Check
Operating System: Windows Vista, 7 or 8 or Mac OS 10.6, 10.7 or 10.8
Processor minimum: 2 GHz or faster
Memory minimum: 2 GB of RAM or higher
Internet Connection: Broadband (high-speed) Internet connection with a minimum
download speed of 1.5 Mbps and an upload speed of .2 Mbps, ideally .5 Mbps.
Use the following website to determine your Internet speeds:
o http://www.speakeasy.net/speedtest/
Microsoft Office
Windows
o Minimum: Microsoft Office 2003 and up; Recommended:
Office 2010; Microsoft Office available through OHIO
Virtual Desktop. Equivalents: OpenOffice or Google Docs.
Mac
o Minimum: Microsoft Office 2004 and up; Recommended:
Microsoft Office 2011; Equivalents: Open Office, Google
Docs, or iWorks.
Webcam: Computer equipped with built-in or external webcam and audio
capabilities.
Document Scanner: Sheet fed/Flatbed Document Scanner or Smart Phone with
camera. You will be required to submit your handwritten homework and exams to
the appropriate submission areas in the course.

The following apps are available to convert a smartphone photo to an Adobe PDF file:
o CamScanner - iOS and Android
o Document Scanner - Android
o JotNot or TurbScan - iOS
Help Desk
The OIT (Office of Information Technology) Service Desk assists students with
questions related to their OHIO ID and password, OHIO email, computer software
and hardware, Blackboard, and other University applications.
Limited telephone technical support is available, including student password resets
and system outage reports. After-hours support staff is not trained to handle
complex software or hardware questions; however, they will create tickets and
forward them to the Service Desk the following morning.
OIT Support
o Phone: (740) 593-1222. Hours of operation
o Email: servicedesk@ohio.edu
Blackboard tips and "How To" guides
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Academic Policies
University Code on Academic Integrity
Submission of work other than your own is grounds for penalties ranging from zero
points on the assignment to an F in the course to expulsion from the university
depending upon the severity of the offense.
Please review the following documents on academic honesty.
Ohio University Code
Academic Integrity in the Russ College
Academic Policies
Information on academic policies, such as course withdrawal, incompletes, grievance
procedures, and more can be found in the OHIO Academic Policies document.
Withdrawal Policy
Please refer to the following resources for information about withdrawing from a
course or the program:
12.050: Canceling Registration, Dropping Classes, and
Withdrawing
Deadlines for withdrawing are available on the Academic
Calendar website.
Student Accessibility Services
Student Accessibility Services (SAS) mission is to ensure equal opportunity and
access for members of the Ohio University Community. Central to this mission is the
development of an academic environment that is accessible to all people without the
need for adaptation. While working toward the goal of full inclusion, accommodations
must still be provided on an individual basis.
The Student Accessibility Services guide provides information about policies,
procedures, and resources relevant to students registered with SAS and has been
developed to assist you in accessing your academic accommodations and services.
We encourage you to meet with your accessibility coordinator on a regular basis to
discuss your educational goals and accessibility issues.
Countless students with disabilities from every college and academic program have
graduated from Ohio University. Your engagement in your academic activities and
the accommodation process will be a key factor to your success. Communicating
openly and regularly with your accessibility coordinator is the best way to assure
your equal access and assists SAS in supporting your success.
For Further Information Contact SAS at:
Baker University Center, Suite 348
1 Park Place
Athens, Ohio 45701-2979
(740) 593-2620
disabilities@ohio.edu
Ohio University Office of Disability Services
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Phone: (740) 593-0329
Email: tomeo@ohio.edu
Website: http://www.library.ohiou.edu/staff/tomeo/
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Updated 3/13/14