Guidance and Navigation


Spring 2021


Sundays and Tuesdays, 13:30-15:00


Online Link:


برای دریافت فصل اول تا سوم مقدمه ای بر هدایت وسایل پرنده اینجا کلیک کنید.

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



Hadi Nobahari, Room 317, 66164636, nobahari(at)sharif(dot)edu

Teaching Assistant:

Meysam Alizad, m.alizad.ab(at)gmail(dot)com



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.       PPN, TPN and other variants

d.      3D Implementation

e.       Analytical Solution of TPN

f.       Simulation of PN

g.       Performance of TPN

h.      Implementation Issues

i.        Linearization of PN

j.        Zero-effort Miss

k.      Analysis of the Homing Loop Using Adjoint Theory

l.        Radome Effect

m.    TPN versus APN

n.      Optimal Two-point Guidance

o.      Proportional Navigation Command Guidance

p.      Pulsed Guidance

5-      Ballistic Guidance Laws

a.       Ballistic Trajectories

b.      Required Velocity

c.       Lambert Problem

d.      Velocity to be Gained

e.       Cross Product Steering

f.       Lambert Guidance

g.      General Energy Management (GEM) Steering

h.      Explicit Versus Implicit Guidance

i.        Q and Q* Guidance

j.        Preset Guidance

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 Guidance

g.       Optimization of Guidance Algorithms

7-      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 in component form

h.      Effects of Elliptic Earth

i.        Discretization of Navigation Equations

8-      Inertial Sensors

a.       Gyroscope principles

b.      Single-axis Rate Gyroscope

c.       Accelerometers

d.      Force balanced sensors

9-      Tests and Calibration of Inertial Navigation Systems

a.       Test Equipment

b.      Calibration of accelerometers

c.       Calibration of rate gyros

d.      Hardware-in-the-loop Simulation

10-  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+3

Mid-term Exam (1400/2/5, 9:00 am)

5 out of 20+3

Final Exam

7 out of 20+3

Class Presence (Bonus)

+1 out of 20+3

Optional Term Project (+Bonus)

3+1 out of 20+3