2. RDF / ADF 3. RADAR 4. Hyperbolic Navigational System 5. Satellite Navigational System 6. Aircraft Navigation 7. Marine Navigation Fundamentals of Navigation Definition of Navigation • It is the art of piloting and sailing • It is the procedure by which the pilot moves the craft from one point to another along a desired path • It is the method of exploring an unknown or unfamiliar place Major Navigation Agencies • Federal Aviation Administration (FAA) Washington DC – operates navigational aids and air traffic control for both civil and military aircraft in the US and its possessions • Federal Communications Commission (FCC) Washington DC – the agency that licenses transmitters and operators in the united states and aboard US registered ships and aircraft. Major Navigation Agencies • International Air Transport Association (IATA) Montreal Canada – the international association representing scheduled airlines • International Civil Aviation Organization (ICAO), Montreal Canada – a united nations agency that allocates standards and recommended practices, including navigational aids, for all civil aviation • International telecommunications Union (ITU), Geneva, Switzerland – an agency of the united nations that allocates frequencies for best use of the radio spectrum Early Methods of Navigation Celestial Navigation – it is the old method of navigation, done by measuring the angular positions of a celestial body • Uses sun, moon, and stars • Wind movements • Uses sextant • Uses chronometer • Uses astronomical tables Sextant • It measures the altitude of a celestial body in the sky • It is used to measure the angle between any two visible objects • Determines the angle of a celestial body and the horizon called altitude Astronomical Tables • These were designed to facilitate the calculation of planetary positions, lunar phases, eclipses, and calendrical information Other Methods of Navigation • Pilotage or Visual Contact • Dead Reckoning • Radio Navigation (Electronic Navigation) Pilotage or Visual Contact • It is navigation by visual contact by following terrain features such as rivers, coastlines, mountain ridges, roads, and correlating what is seen in aeronautical chart • The navigator fixes his position on a map by observing known visible landmarks provided that there is good visibility • Radar with plan position (pp display) can be used. It is called Electric Pilotage Pilotage or Visual Contact • The pilotage method of navigation developed naturally through time as aircraft evolved with the ability to travel increasingly longer distances . • Flying at low altitudes, pilots used rivers, railroad tracks and other visual references to guide them from place to place • Pilotage is mainly used by pilots of small, low speed aircraft who compare symbols on aeronautical charts with surface features on the ground in order to navigate Dead Reckoning • The position of the craft at any instant of time is calculated from the previously determined position, the speed of its motion with respect to the earth, and the time ellapsed • Dead Reckoning (DR) stands for deduced calculation • The direction of the craft called track angle, and speed indicator are needed Dead Reckoning • In dead reckoning, the navigator starts with a known positional fix, taken with observations and other tools • This fix is noted on a chart with an indicator showing it is a firm positional fix, not an extrapolation. • The next time the navigator wants to estimate position, the amount of time elapsed is considered alongside the recorded speed of travel and the course. Dead Reckoning • Dead reckoning can also include adjustments for currents and winds, as these factors may take a vessel off course • A new position is entered on the chart to reflect the outcome of the calculations. • One serious problem with dead reckoning is the risk of cumulative errors. • Recording positional information relative to previous positions, rather than with the use of new data, runs the risk of compounding an error Major Electronic Navigation System 1. Automatic Direction Finding / Radio Direction Finding (ADF / RDF) 2. VHF Omnidirectional Range (VOR) 3. Distance Measuring Equipment (DME) 4. Tactical Air Navigation (TACAN) 5. Collocated VOR/TACAN station (VORTAC) 6. Instrument Landing System (ILS) 7. Microwave Landing System 8. Air Traffic Control Radar Beacon System (ATCRBS) 9. Ground Proximity Warning System (GPWS) 10. Traffic Alert and Collision Avoidance System (TCAS) 11. Radio Navigation (RNAV) Hyperbolic Navigation System 1. Decca 2. Omega 3. Loran - C Satellite Navigational System 1. Transit 2. Navigation System using Time and Ranging / Global Positioning System (NAVSTAR / GPS) 3. Global Orbiting Navigation Satellite System (GLONASS) 4. Galileo Positioning System Radio Frequencies used in Electronic Navigation • Omega – 10 to 13 kHz • VLF – 16 to 24 kHz • Decca – 70 to 130 kHz • Loran – C / D – 100 kHz • LFR – 200 to 300 kHz • ADF / NDB – 200 to 1600 kHz • Loran A – 2 MHz • Marker Beacon – 75 MHz Radio Frequencies used in Electronic Navigation • ILS Localizer – 108 to 112 MHz • VOR – 108 to 118 MHz • ILS Glide Slope – 329 to 335 MHz • DME and TACAN – 960 to 1215 MHz • ATCRBS – 1227 to 1575 MHz • GPS – 1227 to 1575 MHz • Altimeter - 4200 MHz • MLS – 5 GHz • Weather Radar – 5, 9 GHz • Doppler Radar – 10 to 20 GHz RADAR • Radar is an acronym for radio detection and ranging • Radio – refers to electromagnetic waves with frequencies between 10 kHz and 300 000 MHz • Detection – discovering the existence • Ranging – refers to the distance between something. Radar Definition • It is a system that uses reflected radio waves to determine the presence, location (direction and distance), and speed of distant objects • Radar is an American acronym which replaced the previously British abbreviation RDF • It becomes a standard word in English language losing the capitalization Applications of Radar • Meteorological detection of precipitation • Air traffic control • Weather monitoring • Military • Radar operates by transmitting a known signal and then detecting the echo of this signal as it reflects from any object in the signal’s propagation path. • The transmitter & receiver are at the same location in most radars and share the same antenna. • The distance to the object is easily calculated from the time between the transmitted signal & the received echo and is displayed on a screen similar to that of an oscilloscope. Basic Radar Concepts • Different schemes are used for the transmitted pulse and echo receiver so that range and angle to the target object are determined, or the motion and velocity of the target are measured. • The transmitted beamwidth must be very narrow, so that the target angle is precise; • A wide beamwidth will indicate the angle to a very coarse value. This requires antennas that are at least several wavelengths in diameter, to provide the sharper beamwidth. Basic Radar Concepts • It requires that a transmitter emit a signal using a directional antenna toward some object called target • The signal reflects back to the source, where it is received and interpreted • The reflected signal is called echo • Early radars often used signals in HF or VHF regions • Modern radars used microwaves • Early radars operated in the range of 50 to 100 MHz. • Today’s radar systems use the shorter wavelength frequencies, from the multihundred MHz to multi-GHz ranges, where a sharply focused antenna that is many wavelengths in size is much more practical. • The amount of power reflected by the target depends on many factors, including the size, shape, material (metal, plastic, wood, or wood), and edges (sharp or rounded) of the target, as well as the frequency of the incident radar signal and the angle between the radar system & the target. Basic Radar Concepts (cont…) • Microwaves can be focused into narrower beams, and can detect smaller targets • The target must be relatively large compared with the wavelength to provide a good reflection • An exception is the long- range- over- the-horizon radar which uses HF to take advantage of ionospheric propagation • Radar systems summarize all of these factors by the radar cross section (RCS), which has units of square meters and indicates the effective target size as seen by the radar. • RCS = 4A2/2, where A= area, =wavelength=c/f, c=speed of light, f=frequency • A larger RCS means that the target reflects proportionally more of the transmitted beam that it intercepts. Radar Cross Section • It is the area of a perfectly conducting flat plate, facing the source that would reflect the same amount of power toward the receiver • Real targets are neither perfect conductor nor flat planes • The radar cross section is smaller than the actual cross sectional area of the target • A simple target such as sphere will scatter the incoming energy in many directions, and only a very small fraction will be returned. • In contrast, a large flat plate is more effective reflector with much larger RCS. • The table (the next slide) gives the RCS of some basic shapes as a function of dimension & wavelength, as well as typical values for some common objects when viewed “head on” at 1 GHz. Typical RCS values Item RCS (m2) Sphere of radius a, a >> a2 Sphere of radius a, a << 1442a2/2 Resonant dipole 0.8662 Flat plate, broadside, area A 4A2/2 Small airplane 1-2 Jet fighter 6 Large jet aircraft 40 Jumbo jet aircraft 100 Small pleasure boat 2 Cabin cruiser 10 Pickup truck 200 Car 100 Person 1 Bird 0.01 Radar Cross Section (RCS) • From the table, typical RCS values show impact of shape, size and wavelength; some RCS are relatively independent of wavelength, while others are very dependent on it. • The rudder of an airplane is a major factor in its RCS. • Ironically, a truck has a larger RCS than a large airplane, although the truck is physically smaller; this is due to the flat sides & sharp edges of the truck body. • Poor radar targets (such as lifeboats) that do want to be visible often increase their RCS by carrying special lightweight signal reflectors designed for maximum RCS. • Example 1: What is the RCS of a flat piece of metal, 7.5 cm on each side at 1 GHz? • Example 2: repeat example 1 at 10 GHz. • Example 3: What is the RCS of a sphere of radius 0.5 m when the frequency is 10 GHz? • The range over which the radar system will reliably detect an object is determined by many factors. • The reflected signal power must be large enough so that the receiver can detect it, and is therefore closely related to the SNR required for reliable detection. • When the transmitting & receiving antennas are the same-which is usually the case- the signal power that reaches the receiver is Pr=PtG22(RCS)/(4)3R4 Where: Pt= transmitted power (W) Pr= received echo signal power (W) G = antenna gain (expressed as ratio,not in db) = signal wavelength (m) R = range to the target Example: What power is received when the transmitted signal is 1000W at 1 GHz, the target is 10,000 m away, the target RCS is 1 sq.meter and the antenna gain is 40 dB? Radar Equation (cont…) • The returning signal may be quite weak • The signal strength is subject to square law attenuation (incident and reflected wave) • Thus the received signal is inversely proportional to the fourth power of the distance • The power of the return signal is affected by the size, shape, and composition of the target • The maximum range that the system can achieve occurs when the received echo power is at least equal to the minimum signal that the receiver can detect despite unavoidable external & internal noise. • There are several variables that increase this maximum range, and each has advantages & drawbacks: The transmitted power can be increased – more costly equipment and more power must be provided; The antenna can have higher gain – a larger, more complex design; The signal wavelength can be increased – but lower frequency signals suffer more atmospheric noise and provide less range resolution; Lower-noise receivers can be used – costly or unavailable; or The RCS can be increased by changing target shape & size – of course this is not often practical & an enemy target will strive to decrease its RCS. • Note that the received power decreases with the 4th power of the range. This is because the transmitted beam spreads out & its power decreases with the square of the distance; • Similarly, the reflected power from the target spreads and also decreases with the square of the distance. • For example, doubling the useful range requires increasing the power by a factor of 24=16; tripling the distance requires 34=81 times the power. • For these reasons, radar designs place a great deal of emphasis on higher-gain antennas and very low-noise receivers which can detect ever-smaller received signals. • Early radar system used deflection modulation, a simple variation of an oscilloscope screen to display the echo information. • The horizontal trace, at a constant sweep rate, is started simultaneously with the transmitted signal, & the received signal is applied to the vertical input. • The echo then produces a pulse or blip on the screen along the horizontal axis at a distance from the left-hand starting point that is proportional to the round- trip signal time. • The horizontal axis is calibrated in range units proportional to the time units, since range is: R=ct/2 where c=speed of light & t=the total time between the transmitted signal & the received echo. • This time is easily measured on the screen as the number of divisions between the sweep origin & the radar blip, divided by the known sweep rate (divdiv/s). • The factor of ½ is needed because the signal has completed a round trip to the target & back, covering twice the actual target range. • Example: What is the range when t is 15s? • In many radar applications, however, the radar antenna physically or electronically scans the sky, rotating as a search radar around a complete 360 circle or sweeping back & forth through some smaller angle as an aiming radar. • The single horizontal line display cannot directly show both the target angle & range, and although the angle could be displayed on a separate indicator, this requires that the operator look at two displays at the same time. • Also, it is hard to determine movement of the target on successive sweeps. • In a plan-position indicator (PPI) the oscilloscope screen is modified to present a 360 image, with the radar system at the center of the screen. • The fixed horizontal line of a simple display now rotates around the center, in synchronization with the antenna movement (a typical rate is 6 rev/min). • In early radar systems this display rotation was accomplished by actually rotating the deflection coils (or plates) mechanically in sync with antenna while power was fed to the coils or plates via slip rings. • This relatively unreliable and expensive method has been replaced, and the scan is now done electronically by continuously varying the signals applied to the CRT x and y deflection circuitry in the correct mathematical relationship to produce the appearance of a rotating axis, or by a raster scan that creates the same visual effect. Types of Radar • Pulse Radar – works by transmitting short burst of microwaves called pulse • Continuous Wave Radar – transmits continuously and compares the frequency of the received with that of transmitted signal • Doppler Radar – uses either pulse or continuous wave to obtain the frequency shift between the radar and the target (Doppler Effect) Pulse Radar Block Diagram Pulse Radar Pulse Terminology Pulse Radar Ways to detect target • The antenna is moved physically • The antenna radiation pattern is moved electronically (as in the case of phase array antenna) PULSE SHAPES • A pulsed radar system transmits a relatively narrow pulse by turning the high-frequency carrier on for a short time. • The pulse repetition frequency (PRF) or pulse repetition rate (PPR) defines how frequently these pulses are sent. • The pulse width indicates the actual duration of a pulse. • The ratio of the pulse width to the total time between successive pulses (the inverse of PRF) is the transmitter duty cycle. • The radar receiver is designed to detect the reflected signal after each pulse is sent. • The average power of the transmitter is equal to the peak power times the duty cycle. Determining the Distance Where ct R = distance in any R units 2 C = speed of light t ( s ) R(nmi) = distance in R( nmi ) 12.36 nautical miles R(yd) = distance in yards R( yd ) 164t Maximum Unambiguous Range • It is the maximum distance where the radar can detect distance without ambiguity • Occurs when the pulse period (PRT) is less than the time taken for a pulse to return from the target • Beyond this range the radar cannot distinguish between this target and a much closer one Maximum Unambiguous Range (Cont…) Where cT T = pulse period or the pulse repetition time Rmax f = pulse repetition rate 2 (frequency) c Rmax 2f • In basic radar system the maximum unambiguous range or maximum usable range is limited by the time between pulses. • Consider what happens if a pulse is sent out every 1s, & the distance to target is such that the echo takes more than 1s to return. • The receiver will not be able to tell if the echo is from the 1st pulse or from a successive pulse, & the target would appear closer than it really is. • As the PRF increases, the maximum unambiguous range decreases. • Example: The PRF is 1000 Hz. What is the maximum unambiguous range? • Solution: Any pulse that returns after 1 time period between pulses will be confused with a return from the 2nd pulse, so the max. range occurs when t=1/PRF. • Using this in the range equation, R = (3x108)(0.001) / 2 = 0.0015x108=150,000 m About 93 miles. Minimum Usable Range • Transmitted pulse has a finite duration called pulse width • The receiver cannot cT p detect if the echo returns while the Rmin pulse is being 2 transmitted • Tp = pulse duration or pulse width • Recall that the pulsed radar shows echoes from any reflecting object in the signal path – this means that many of the echoes are of stationary objects (buildings, geographic features such as hills, and the like) which are called clutter that do not changed on successive sweep of the antenna. • Generally, most of the interesting & important information occurs when the target(s) changes position, whether they be aircraft, airport landing strips, trucks or other vehicles.. To overcome this problem, radar systems based on the Doppler shift were developed. Doppler Radar • Pulse radar can measure velocity in an indirect way • Velocity is found by finding the position at two different times and calculating how far it has moved in a given time interval • Doppler radar measure velocity directly by using Doppler Effect • Doppler Effect – the frequency of the echo is different from that of transmitted signal when there is relative motion between the radar and the target DOPPLER RADARS • The Doppler shift in frequency occurs when there is relative movement between a signal source & the signal receiver as a fixed number of signal oscillation cycles is stretched over an increasing distance or compressed into a decreasing distance. • The amount of changed fd, in Hz, in the original frequency is fd= 2cos/ where =velocity between the radar & the target (m), = angle between the target’s line of movement & a line between the radar & the target, = signal wavelength (m) Equation of Doppler Effect Where fD = frequency shift or Doppler shift (Hz) Vr = relative velocity of the 2Vr f i source and the target (m/s) along a line fD between them; positive if c the two are getting closer otherwise negative fi = incident frequency (Hz) c = light velocity • When the target is moving toward the radar, the velocity is positive & the signal shifts higher in frequency. • For targets moving along the line between radar & target, is 0=1, so the Doppler shift is at maximum; for targets moving crosswise to the line between radar & target, is 90 and cos 90=0, so there is no apparent shift in frequency. • The relative velocity between the radar system & the target is cos . • Example 1: What is the Doppler shift when tracking a car moving away from the radar at 100 mi/hr at 1 GHz? • Solution: =0.3 m at 1 GHz & 1 mi/hr is about 0.5 m/s fd= 2 x (100 mi/hr)x(0.5 m/s 1 mi/hr) x cos 0 / 0.3 m = 333 Hz, which is a very small fraction of the frequency. • Example 2: Repeat (1) when the frequency is 10 GHz. • Solution: the shift fd is now 10 times as great, or 3330 Hz… this is why higher frequencies are preferred in Doppler-based systems, although the carrier frequency is higher & the radar requires more complex circuitry. • In the moving target indicator (MTI) pulsed radar, the Doppler shift is used to minimized clutter effects & see only targets that are moving. • a typical example of MTI radar operate to eliminate clutter & show only moving targets, which may also have smaller echoes than clutter. • There is a problem in pulsed Doppler systems. When the PRF equals the Doppler frequency fd or any integer multiple of it, the target velocity cannot be distinguished from the stationary clutter & will appear to have no Doppler shift at all. • The relative velocity cos that results in a Doppler frequency equal to the PRF (or some multiple of it) is called the blind speed, since the radar system will not see the moving target at this speed & confuses it with clutter. • Blind speed b is given by b =nPRF/2 • Where n= any integer (1,2, etc.); velocity in m/s; PRF in Hz. • Example: What is the first 3 blind speeds at 1 GHz when the PRF is 1KHz? • Solution: the 1st blind speed b = 1(0.3m) x (1000 Hz)/2 = 150 m/s (about 300 mi/hr); the next blind speed is 300 m/s (600 mi/hr); & the 3rd is 450 m/s (900 mi/hr). Doppler Radar Doppler Radar Doppler Radar • It can only measure the velocity component along a line that joins the source and the target • This is not always the true velocity of the target • Doppler radar can use either pulse or continuous wave Doppler Radar (component velocity) Continuous Wave Radar ADVANCED RADAR SYSTEMS • The basic radar we have examined consists of a transmitter, an antenna, and a receiver at the same location & using frequencies from several hundred MHz up to the GHz region. • MONOSTATIC radar systems have their transmitter & receiver in the same location & usually share the same antenna. This provides one perspective on the target, but a limited one. • In some situations more can be learned about the target if the transmitter & receiver, along with their antennas , are at different locations. • In a BISTATIC radar system, the transmitter & receiver are separated by a baseline distance with just one transmitter & receiver. • When the baseline distance is approximately the same or greater than the target distance, the overall performance of the bistatic system differs significantly from the monostatic one. It is equivalent to shining a flashlight on an object in a darkened room & then looking at the object from the different position. • Each position in the room reveals another perspective on the object, which cannot be seen simply by standing at the flashlight position. • In radar, the target has a different effective radar cross section, depending on the angle between the transmitter & receiver. • The bistatic radar system is often expanded to a multistatic configuration with multiple transmitters & 1 receiver. • Each TX takes its turn in sending out the radar pulse, and the receiver observes all the echoes (knowing, of course, where each TX is & which echo is from which TX signal). • This gives the single receiver many perspectives on the target. • Radars using frequencies of hundreds of MHz and above are limited to line-of-sight range because of the propagation characteristics at these frequencies. • Greater ranges can be achieved only with higher antennas, which is often impractical. • An alternative is to use the principles of radar but with frequencies in the range of 5 to 30 MHz (wavelengths of 50 to 200 ft), where the signals refract (bend) as they pass through the earth’s ionosphere. The ionosphere acts essentially as a mirror that reflects radar signals from the TX over the horizon, to a target that returns some amount of the signal, and some of this signal is reflected back toward the radar site (fig 21.12). • Because this allows the radar to see targets, including low-flying aircraft, that are beyond the horizon at ranges up to 2000 miles, it is called an over-the- horizon (OTH) radar. • A narrow transmitted beamwidth is necessary to achieve a high degree of angular resolution in a radar system, to separate features & objects that are next to each other but at approximately the same range. • For example, an airplane needs to see a map of the ground & features below, but while these rivers, roads, & lands are at approximately the same range, it is their left-to-right angular separation that is of interest. • To achieve the desired fineness of angular resolution, the beamwidth must be narrow and therefore the antenna must be very large (have a diameter of many wavelengths). This is not possible in an airplane, of course. • To overcome this limitation, synthetic aperture (SAR) was developed. • In an SAR system, the appearance of a larger antenna is created by a clever & complex method that takes advantage of the movement of the airplane. • A large no. of radar pulses are sent as the airplane moves, and these are combined to simulate a signal from a single larger antenna. The effective size of this synthesized antenna is equal to the distance the airplane travels while taking these multiple radar images. • SAR has also been used to map the surfaces of planets using aircraft or satellite-based radar systems. (The 27- antenna array in Mexico used for deep- space satellites & planetary mapping is a land-based SAR, spread over 20 miles.) • The reason a SAR system is so complex is that the many separates “exposures” must be combined into one image. This is done by delaying each echo by the appropriate time & then performing complex signal processing on all of them simultaneously to produce the final radar image. • The first echo is held the longest, the next one is held a slightly shorter period of time, and so on. The final result is that all the radar echoes, which were generated at different times as the aircraft (or spacecraft) traveled, are used to develop the signal’s very high resolution image. • SAR is used to generate maps with astonishing detail using a relatively small antenna with a physical diameter of only a few meters but a synthesized diameter of hundred of meters. It has been used to provide detailed maps of the surface of Venus, which is normally covered by clouds that make standard telescope useless. • Newer SAR systems replace the analog delay lines that hold the echo signal information with digital signal processing (DSP). • The echoes are digitized by extremely high speed analog-to-digital converters, stored in a computer memory, & then numerically processed to produce the final result. • This technique is costly but more accurate & flexible than the preceding method, which requires many precise delay lines to assure that the many SAR echoes all come together at the same time and is not easily adjusted for different aircraft speeds, PRF, & similar factors. • Combining many separate images of the same object is not limited to SAR. Medical instrumentation such as the CAT (computerized axial tomography) scanner & MRI (magnetic resonance imaging) take thousands of narrow-beam pictures around a patient which are then combined by a computer into a single meaningful picture. Transponder • It is a transmitter-receiver installed in the target • It responds to a radar pulse by transmitting a signal that can identify the aircraft (flight number and destination) • In military transponders are part of an “identification friend or foe” (IFF) designed to prevent the friendly aircraft from being attacked Transponder Stealth • It refers to the technique for avoiding detection of radar • Details are kept secret Basic Ways to Avoid Radar detection 1. Absorb radar waves rather than reflect them 2. Scatter the reflected signal to avoid returning a strong signal to the hostile radar 3. Reduce the heat signature of the aircraft Stealth Jet Fighter Stealth Ship Radar Frequencies Doppler Frequencies Attenuation Attenuation