Guidance and Navigation


Fall 2014

Sundays and Tuesdays, 7:30-9:00 am



برای دریافت فصل اول و دوم مقدمه ای بر هدایت وسایل پرنده اینجا کلیک کنید. ویرایش جدید شامل فصل سوم بزودی منتشر می شود.

برای دریافت سیستم های ناوبری اینرسی متصل به بدنه اینجا کلیک کنید.




Hadi Nobahari, Room 317, 66164636,

Teaching Assistant:

Sayyed Hamed Sayyedipour,, 09198261536



1-      Introduction, Definitions and Concepts

a.       Guidance, Navigation and Control

b.      Elements of a Guidance System

c.       Guidance Phases

d.      Guidance Trajectories

e.       Guidance Sensors

2-      Classification of Guidance and Navigation Systems

a.       Basic Navigation Systems

b.      Combined Navigation Systems

c.       Classification of Guidance Systems

3-      Three-point Guidance Laws

a.       Line-of-Sight Guidance Laws in BR systems

b.      Command to Line-of-Sight Guidance

c.       CLOS Guidance with Lead Angle

d.      Combined Lead and LOS Guidance Laws

e.       Three-dimensional Implementation of CLOS Guidance

4-      Two-point Guidance Laws

a.       Pursuit Guidance

b.      Proportional Navigation Guidance

c.       3D Implementation

d.      Analytical Solution of TPN

e.       Simulation of PN

f.       Performance of TPN

g.       Comparison of Beam Rider and PN

h.      Proportional Navigation Command Guidance

i.        Proportional Navigation Inertial Guidance

j.        Implementation of Proportional Navigation Guidance

k.      Linearization of PN

l.        Analysis of the Homing Loop Using Adjoint Theory

m.    TPN versus APN

n.      Optimal Two-point Guidance

o.      Pulsed Guidance

p.      Optimal Midcourse Guidance

5-      Ballistic Guidance Laws

a.       Ballistic Trajectories

b.      Required Velocity

c.       Gravity Turn

d.      Lambert Problem

e.       Velocity to be Gained

f.       Cross Product Steering

g.       Lambert Guidance

h.      General Energy Management (GEM) Steering

i.        Explicit Versus Implicit Guidance

j.        Q and Q* Guidance

k.      Preset Guidance

l.        Virtual Targets

6-      UAVs Guidance Laws

a.       UAV Guidance Problems

b.      Application of Tactical Guidance Laws in UAVs

c.       Trajectory Tracking

d.      Terrain Following/Terrain Avoidance

e.       Optimal TF/TA Path Planning

f.       Cooperative Search and Localize

g.       Cooperative Target Search and Track

h.      Cooperative Attack

i.        Cooperative Defense

7-      Complementary topics on guidance

a.       Integrated Guidance and Control Systems

b.      Optimization of Guidance Algorithms

8-      Principles of Inertial Navigation

a.       Components

b.      Two-dimensional Navigation

c.       Coordinate Systems

d.      3D strapdown navigation system

e.       Strapdown System Mechanizations

f.       Attitude Representation

g.       Navigation equations expressed in component form

h.      Effects of Elliptic Earth

9-      Inertial Sensors

a.       Gyroscope principles

b.      Single-axis Rate Gyroscope

c.       Accelerometers

d.      Force balanced sensors

10-  Tests and Calibration of Inertial Navigation Systems

a.       Test Equipments

b.      Calibration of accelerometers

c.       Calibration of rate gyros

d.      Hardware-in-the-loop Simulation

11-  Initial Alignment

a.       Coarse Alignment

b.      Fine Alignment

Text Books:

  1. P. Zarchan, Tactical and Strategic Missile Guidance, 6th Edition, AIAA Education Series, Vol. 239, PROGRESS IN ASTRONAUTICS AND AERONAUTICS, 2012.
  2. George M. Siouris, Missile Guidance and Control Systems, Springer-Verlag New York, Inc., 2004.
  3. D. H. Titterton, J. L. Weston, Strapdown Inertial Navigation Technology, AIAA, Inc., 2004.
  4. R. M. Rogers, Applied Mathematics in Integrated Navigation Systems, AIAA Education Series, 2nd Edition, 2003.


Homework (+Bonus)                          5+1 out of 20+2

Mid-term Exam (93/8/27, 7:30 am)     5 out of 20+2  

Final Exam                                          10 out of 20+2

Class Presence (Bonus)                      +1 out of 20+2


Video Links



Grades of the Previous Terms

Fall 2012, Fall2013