Welcome to
Dr. M. S.
Grewal's
Web Page
Mohinder S. Grewal, Ph.D., P.E.
Professor of Electrical Engineering
California State University, Fullerton
(CSUF)
E-MAIL : mgrewal@fullerton.edu
Phone: (714) 278-3874
Contents limited to most recent CSUF
activities.
For more information on any item, or for a complete Resume, E-MAIL : mgrewal@fullerton.edu.
- Second
Edition Global
Positioning Systems, Inertial Navigation, and Integration,
with MATLAB CD, John Wiley & Sons, 2007. Co-authors Larry Weill and A. P.
Andrews. A Solution Manual includes solutions to
problems with MATLAB, and additional problems and solutions that are not
included in the book. (The manual is
available directly from the publisher to university professors and
practicing engineers.) Reviews of
the First Edition:
Noteworthy is the comprehensiveness of the material on GPS, Kalman
filtering and Kalman filter engineering, and the appendix on coordinate
transforms (alone worth the price of the book)...authors have, in addition to
strong academic credentials, extensive experience and success as practicing
engineers in industry...recommended for personal and professional libraries... Quoted from
“In Review,” GPS World, July 2001.
... material is well-chosen and clearly
structured....balanced introduction to GPS.
The reviewer recommends the book to geomatic
students and practicing engineers who are interested in exploring multi-sensor
systems engineering. The authors describe most of the essential tools needed
for this task in a concise and understandable manner. Quoted from “Book Review,” Journal of Geodesy
(2003) 77: 240-245
- Kalman
Filtering: Theory & Practice Using MATLAB, Second Edition John
Wiley & Sons, 2001. (7th printing with CD, 2006) Co-author A. P. Andrews. A Solution Manual includes solutions to problems
with MATLAB, and additional problems and solutions that are not included
in the book. (The manual is
available directly from the publisher to university professors and
practicing engineers.)
Many implementation issues which are not to be found in any one prior
book are presented and explored... veteran KF applications authors are well
qualified by experience and accomplishments to undertake their ambitious goal
of becoming mentors to the next generation of information age systems
engineers...The concluding Chapter 7 is worth many times the price of the book
in terms of practical advice...An authentic magnum opus worth much more than
its weight in gold!
Quoted from Book Review of the First Edition, IEEE
Transactions on Automatic Control (1995) 40:11, 1983-6, and Proceedings of the
IEEE (1996) pp
321-324.
·
Invited article: “The
Kalman Filter,” in 6.43. Control
Systems, Robotics and Automation, edited by Honorary Theme Editor, Dr.
I. H. Unbehauen, in Encyclopedia of
Life Support Systems (EOLSS), developed under the auspices of the
UNESCO, EOLSS Publishers, Oxford, UK, http://www.eolss.net,
2004.
·
“Prototype Test Results of L1/L5 Signals of Future GEO
Satellites.” With P. Hsu, L. Cheung (former CSUF student), ION GNSS 2004 Conference, September 21-24, 2004, Long Beach CA.
- “Overview of WAAS
Integrity Design.” With T. R. Schempp and H. Habereder. ION GPS/GNSS 2003 Conference, September 9-12, 2003, Portland OR,
pp. 2750-2759.
- “A New Algorithm for WAAS GEO Uplink Subsystem (GUS) Clock
Steering.” With P. Hsu and T. Plummer. ION
GPS/GNSS 2003 Conference, September 9-12, 2003, Portland OR,
pp. 2712-2719.
- “Overview of SBAS Integrity Design.” With T. R. Schempp
and H. Habereder. GNSS
2003 (Global Navigation Satellite Systems), Graz, Austria, April 22-25, 2003.
- “Comparison of GEO and GPS Orbit Determination.” Presented and published in Proceedings of Institute of Navigation's
ION/GPS 2002, Sept
24-27, 2002, Portland,
Oregon, pp. 790-799.
- “Application of Variants of the Kalman Filter to Various
Programs.”
With Dr. A.P. Andrews. Presented
and published in Proceedings of Institute of
Navigation (ION) 58th Annual Meeting and CIGTF 21st Guidance Test
Symposium, Albuquerque,
NM, June 24-26, 2002.
- “GEO Orbit
Determination Via Covariance Analysis With a
Known Clock Error.” With Dr. Edward Carolipio and Nitin
Pandya. Navigation:
Journal of the Institute of Navigation, Vol. 48, No. 4, 2002,
pp. 255-260.
- “GEO Orbit Determination Via Covariance Analysis With a Known Clock Error.”
With Dr. Edward Carolipio and Nitin Pandya. Published in Proceedings of Institute of Navigation (ION)
GPS 2001, September 10-14, 2001, Salt
Lake City, Utah,
Session A5: GNSS Augmentation Systems II, pp. 2360-2365. (This paper was scheduled but not
presented because the September
11, 2001 bombing of the WTC stopped air traffic to the
conference.)
- “Field
Test Results of Clock Stability and Code Carrier Coherency of Dual
Frequency Navigation Transponders.” With W. Brown, R.
Lucy, L. Cheung. ION (Institute of Navigation) GPS 2000, September 19-22, 2000,
Salt Lake City, Utah, Session C1, pp 277-283.
- “Power
Control at GEO Uplink Subsystem (GUS) and Interference Detection for Space
Based Augmentation Systems (SBASs).” Proceedings of IAIN/ION (International Association of
Institutes of Navigation) 25th Anniversary World Congress, June 26-28, 2000, San Diego, California,
pp 285-292.
- “Test
Results of Geostationary Satellite (GEO) Uplink Sub-System (GUS) Using GEO
Navigation Payloads.” With W. Brown and R. Lucy. Institute of Navigation (ION) “Redbook,” Global Positioning System,
Selected Papers on Satellite Based Augmentation Systems (SBASs), Volume
VI, ISBN 0-936406-06-2, released January 2000, copyright 1999, pages
339-348.
- “Dependence
of User Differential Ranging Error (UDRE) on Ground Station Geometries.” With
N. Pandya, J. Wu, E.
Carolipio. Institute of
Navigation's (ION) 2000 National Technical Meeting, January 26-28,
2000, Anaheim, CA, pp. 80-90.
- “GEO
Uplink Subsystem (GUS) Clock Steering Algorithms Performance, Validation
and Test Results.” 31st Annual
Precise Time and Time Interval (PTTI) Systems & Applications Meeting,
Dana Point, CA, December 7-9, 1999, pp 173-180. Invited Paper.
- “Ionospheric
Delay Validation Using Dual Frequency Signal from GPS at GEO Uplink
Subsystem (GUS) Locations.”c ION GPS '99, Satellite
Division of The Institute of Navigation
12th International Technical Meeting, September 14-17, 1999, Nashville, Tennesee, Session C4, Atmospheric Effects, pp.
1429-1437.
- “KALMAN
FILTERS AND OBSERVERS” article. Wiley Encyclopedia of Electrical and
Electronics Engineering, March 1999, Volume 11, pp 82-96.
- “GEO Uplink Subsystem (GUS) Clock Steering Algorithms
Performance and Validation Results.” 1999 Institute of Navigation (ION) Conference,
Vision 2010: Present & Future, January 25-27, 1999, San Diego, California.
National Technical Meeting ,Proceedings pp
853-859.
- “Estimating
Ice-Affected Streamflow by Extended Kalman
Filtering,”
Journal of Hydrologic Engineering, American Society of Civil
Engineers (ASCE), July 1998. With D.J. Holtschlag.
(This paper was also the “Feature Article” in the September issue of USGS
Surface water quality and flow Modeling Interest Group.) Volume 3,
No. 3, ISSN 1084-0699, pp 174-181.
- “Modelling
and Parameter Identification of Ice- Affected Streamflow.”
With David Holtschlag of U.S.
Department of the Interior Water Resources Division. IEEE 1998 American Control Conference, June 24-26, 1998, Philadelphia, Pennsylvania,
pp. 3592-3596.
- “Test
and Simulation Results of Geostationary Satellite (GEO) Uplink Sub System
(GUS) Using GEO Navigation Payloads.” With W. Brown and
R. Lucy. 54th Annual Meeting of the Institute
of Navigation, June
1-3, 1998, Denver,
Colorado, pp 549-556.
- “Estimating
Ice-Affected Streamflow by Extended Kalman
Filtering.” With David Holtschlag
of U.S.
Department of the Interior Water Resources Division. First Federal
Interagency Hydrologic Modeling Conference, April 19-23, 1998, Las Vegas, Nevada,
pp 6-105-6-112.
- “Projecting
Ice-Affected Streamflow by Extended Kalman
Filtering.” With
David Holtschlag of U. S. Department of the Interior
Water Resources Division. Published as Cold Regions Research &
Engineering Laboratory (CRREL)
Report 97-8, by U.S.
Army Corps of Engineers, December 1997.
- “Latency
Compensation for Differential GPS.” Navigation:
Journal of the Institute
of Navigation,
Spring 1997, Vol. 44, No. 1, pp 99-107. With UCR
Professor J. Farrell, M. Djodat (former CSUF student), M. Barth.
- “Differential
GPS with Latency Compensation for Autonomous Vehicles.” with J.
Farrell, M. Djodat (CSUF student), M. Barth. Proceedings, 1996 IEEE International Symposium on
Intelligent Control, pp 20-25. Dearborn
MI. August 1996.
- “Application
of Fixed Point Smoothing to the Calibration, Alignment, and Navigation of
Inertial Navigation Systems.” with R. Miyasako
and J. Smith. Second World Congress of
Nonlinear Analysis, Athens,
Greece. July 10-17, 1996.
(Invited)
- “Attitude
Determination Without Rate Sensors.”
First International Conference on Non-linear Problems in Aviation and
Aerospace, Embry-Riddle Aeronautical University, Daytona Beach, Florida.
May 9--11, 1996. (Invited)
- “Application
of DGPS/INS to Automobile Navigation with Latency Compensation.” with
J. Farrell, and M. Barth. Proceedings, IEEE
Position, Location, and Navigation Symposium (PLANS), pp 433-436. April 22, 1996, Atlanta, GA.
- “Application
of Kalman Filtering to Gyroless Attitude
Determination and Control System for Environmental Satellites.”
IEEE 34th Conference on Decision and
Control (CDC), pp 1544-1552. New
Orleans, December 13-15, 1995.
- “Statistical
Filter for Dual Accelerometer Tumble Testing.” with M. Halpern. 21st Joint Services Data Exchange for
Guidance, Navigation and Control, pp. 676-683. Palm Springs, California,
October 28-29, 1992.
- “Application
of Kalman Filtering to the Calibration and Alignment of Inertial
Navigation Systems.” IEEE
Transactions on Automatic Control Systems, Vol. 36, No. 1, January
1991, pp 4--13. Also presented at and published in Proceedings of 29th
IEEE Conference on Decision and Control (CDC), Honolulu, Hawaii,
December 1990.
(For complete
listing of publications, e-mail mgrewal@fullerton.edu)
Return to Contents
- Third Edition of Kalman
Filtering: Theory & Practice Using MATLAB, Second Edition John
Wiley & Sons, 2001. Co-author A. P. Andrews. Revisions to book and Solution Manual under contract to Wiley, in
progress.
- Invited and accepted papers
in progress for publication in IEEE Control Systems Magazine for planned
special issues on Kalman filtering, to be published in 2009 and 2010 to
coincide with the 50th anniversary of the development of the
Kalman filter.
- Application of Kalman
Filtering to Navigation
- Applications of Kalman
Filtering in Aerospace—1960 to the Present (with A. P. Andrews)
- Practical
Implementation Methods for Kalman Filtering (with James Kain)
Return to Contents
- Guest
Lecturer: “Kalman Filtering Theory &
Practice,” Graduate Short Course, University of Calgary
Department of Geomatics Engineering, July 2007.
- Scheduled
Tutorial: “Fundamentals of Kalman Filtering for Navigation,” ION GNSS
Tutorials, Fort Worth,
Texas, September
2007.
- Scheduled
Tutorial: “Basic Inertial Navigation Systems,” ION
GNSS Tutorials, Fort Worth,
Texas, September 2007.
- Scheduled
Tutorial: “Global Positioning Systems/Inertial Navigation Systems
Integration,” ION GNSS Tutorials, Fort Worth, Texas,
September 2007.
- Tutorial:
“Fundamentals of Kalman Filtering for
GPS/INS Integration,” ION GNSS Tutorials, Fort Worth, Texas,
September 2006.
- Tutorial: “Fundamentals
of SBAS (Satellite Based Augmentation Systems) Design,” ION GNSS
Tutorials, Fort Worth,
Texas, September 2006.
- Lecture: “Global Navigation Satellite Systems
(GNSS): The Future of Global
Navigation in Civil Aviation,” CSUF
Engineering and Computer Science Affiliates Technology Breakfast, October
10, 2006.
- Lecture: “Integrity Improvements of GPS with
Space Based Augmentation System (SBAS),” NASA Administrator’s
Fellowship Program (NAFP) Regional Awareness Days, October 20-21, 2004.
- Lecture: “Global Positioning Systems,” College
of Engineering and Computer Science’s Technology Breakfast, November 12, 2002.
·
Lecture: “Global Positioning System,
GPS 101,” Conversations with Scholars Lecture Series, September 16,
2002, collaboratively sponsored by the CSUF Academic Advisement Center, the
Career Planning and Placement Center (Student Affairs), and the Pollak Library.
- Lecture: “GPS 101,” Anaheim High School,
March 2000.
- ECS Lecture Seminar: “Introduction
to Global Positioning System (GPS),” December 6, 1999, California State University, Fullerton.
- Guest Faculty, Southern
California Colloquium, sponsored by Young President's
Organization, California Institute of Technology Campus, May 20-21, 1999.
Lecture on “Global Positioning System (GPS) and Kalman Filtering:
Any Place-Right Place,
Any Time-Right Time.” Selected as one of 65 top professors from over
20 colleges and universities in Southern California
for this unprecedented coming together of over 450 business and academic
leaders.
- Seminar/Open House
introducing GPS lab to School of Engineering and Computer Science,
September 1998.
- Lockheed Martin/CSUF
Symposium, June 17,
1998, “Differential GPS Latency,” Masters' Project
student Shilpa Tipnis' project showcased.
- Seminar: “Global
Positioning System (GPS),” November 7, 1996, California State University, Fullerton,
Co-sponsored by IEEE Student Chapter, CSUF.
- Colloquium: “Modeling and
Parameter Identification,” University
of California, Riverside, Computer
Science Colloquium, March
13, 1995.
- Tutorial: “Kalman
Filtering Technology and Techniques,” at IEEE PLANS '90, Las Vegas, Nevada.
Sponsored by IEEE Aerospace and Electronics Systems Society.
Return to Contents
- Funded $ 30,000: Design
Qualification Test Analysis for Wide Area Augmentation System, Raytheon,
July
1, 2000.
- Funded $ 10,000: Differential
GPS (DGPS) with Latency Compensation (Cont.), Lockheed Martin
LM/CSU Partnership Program, 2000.
- Funded $3,500: Application
of Wide Area Augmentation System (WAAS) to Commercial Aircraft,” Senior
Faculty Research Award, March 2001.
- $100,000 In-Kind
Equipment. NovAtel GPS receiver and auxiliary equipment,
hardware and software for GPS lab.
- Funded $17,000. “Differential
GPS with Latency Compensation, (continued),” “Attitude Determination of
Satellites Without Rate Sensors, (continued).”
Lockheed Martin-CSU Partnership Program, February 1999.
- Funded $ 20,000.
“Differential GPS with Latency Compensation, (continued),” “Attitude
Determination of Satellites Without Rate Sensors,
(continued).” Lockheed Martin-CSU Partnership Program, February
1998.
- Funded $ 7,000. “Differential
GPS with Latency Compensation,” Lockheed Martin-CSU Partnership
Program, January 1997.
- Funded $ 6,000.
“Attitude Determination of Satellites Without
Rate Sensors,” Lockheed Martin-CSU Partnership Program. January
1996.
- CSUF Intramural Grant for
Research and Creative Activity, Summer 1999, “Application of Wide Area Augmentation System (WAAS) to
Commercial Aircraft.”
Return to Contents
- Consultant: Application of
Kalman Filtering to GPS, INS, & Navigation.
- Lockheed: Area of
Differential GPS (Global Positioning System), WAAS (Wide Area Augmentation
System).
- David Holtschlag,
Staff of the U. S. Department of the Interior (U. S. Geological Survey,
Water Resources Division): Area of modeling and parameter identification
of ice-affected streamflow.
- UC Riverside: College of Engineering, Department of
Electrical Engineering EE Professors J. Farrell and Matt Barth: Area of
IVHS (Intelligent Vehicle High System) for Automobile Navigation with GPS and
INS (Inertial Navigation System).
Return to Contents
o Measurement
Science and Technology
o IEEE
Transactions on Aerospace and Electronic Systems
o American
Institute of Aeronautics and Astronautics Journal
o IEEE
Transactions on Automatic Control
o IEEE
Proceedings Control Theory & Applications
o IEEE
Transactions on Control Systems Technology
o IEEE
Transactions on Education
o IEEE
Signal Processing Society
o Journal
of Parallel and Distributed Computing
o Electronic
Letters, An International Publication, IEE (Michael Faraday House, UK)
o Journal
of Guidance, Control, and Dynamics
o American
Institute of Aeronautics and Astronautics (AIAA)Guidance and Navigation and Control Journal.
o Swiss
Federal Institute of Technology Zurich
o Prentice-Hall
o International
Society for Optical Engineering Journal of Optical Engineering.
o European
Journal of Control
·
Awards
o
Recipient, Outstanding Faculty
Recognition: Service to Students, April
12, 2006
o
Recipient, 30 Year Service Award,
March 23, 2006.
o
Recipient, Outstanding Faculty
Recognition: Outstanding
Teacher/Scholar, April 13, 2005.
o
Recipient,
Outstanding Faculty Recognition: Service
to the External Community, April 28, 2003.
o
Recipient, FDC Grants
Sub-Committee Travel Award, April
28, 2003.
o Recipient,
Outstanding Faculty Recognition: Teacher
Scholar, CSUF, April 8, 2002.
o Recipient,
Distinguished Professor of the Year, CSUF MESA
Engineering Program, April
20, 2001.
o Recipient,
Outstanding Faculty Recognition: Scholarly & Creative Activity, for
Scholarship that Results in the Highest Quality, Peer-Reviewed Journal
Articles, CSUF, April 9, 2001.
o Recipient,
Outstanding Faculty Recognition: Scholarly & Creative Activity, for
Scholarship that Results in the Highest Quality, External Grant, CSUF, April 9, 2001.
o Recipient,
25 year Service Award, CSUF, October
27, 2000
o Recipient,
CSUF 1999-2000 Outstanding Faculty Service Recognition (for Outstanding
Community Service), April 2000.
o Recipient,
CSUF 1998/1999 Outstanding Teaching Innovations with Electronic Technology,”
March 1999.
o Senior
Member, IEEE, Nominated for IEEE Fellow Status
o Recipient:
“Outstanding Scholarship/Creative Accomplishments in the Application of
Technology,” March 18, 1998, CSUF.
o Recipient:
“Outstanding Faculty: Excellence in Research Award,” CSUF School
of Engineering and Computer Science, May 1993.
o Registered
Professional Engineer: State of California,
August 1977 to present, CS 1398.
o Fellow,
Institute for Advancement of Engineering, installed 1995.
Return to
Contents
Fall 2004: John Carey, “Comparison of the Satellite
Position Determination, Using Almanac and Ephemeris Real Data.”
Fall 2004: Terry Wu, “Comparison of the Satellite
Position Determination, Using Almanac and Ephemeris Real Data.”
Fall 2002: “Wide Area
Augmentation System (WAAS) Algorithms,” Li Li
Ma.
Fall 2002: “Wide Area
Augmentation System (WAAS) Algorithms,” Yang Yaming.
Fall 2002: GPS related research,
Yu Zhen.
Spring 2001: “GPS/Inertial
Navigation System,” Dylan Walker.
Fall 2000: “PLL (Phase Lock
Loop) and DLL (Delay Lock Loop) Design Used in
GPS Receivers,” Laura Cheung. (Received
Outstanding Thesis Award, School
of ECS. Also
showcased at Lockheed Martin/CSU Partnership Program)
Spring 2000: “Satellite Position
Determination from Real Ephemeris Data,” (with different data) Samar Helwani
Spring 2000: “Determination of Various
Dilution of Precision, GDOP, PDOP, HDOP, VDOP, and TDOP from Almanac Data,”
(with different data) Julie Wang.
Fall
1999:
“Gyroless Attitude Determination, Part 1,” David
Flynn
Fall 1999: “Determination
of Various Dilution of Precision, GDOP, PDOP, HDOP,
VDOP and TDOP from Almanac Data,” Mohammad Ahmed
Fall 1999: “Satellite Position
Determination from Real Ephemeris Data,” Ehab Sheira.
Fall 1999: “Attitude
Determination from Payload Star Sensors,” Sanjay
Poojary.
Fall 1999: “Gyroless
Attitude Determination, Part 2,” Michael Wisdom
Spring 98: “Wide Area
Augmentation for Global Positioning Systems for Navigation,” Shilpa Tipnis.
July 1996: “Comparison of Various
Differential Global Positioning Systems,” Mani Djodat.
Fall 1994: “Evaluation of Special
Digital Signal Processors.” Ghada A. Akel.
Fall 1993: “Evaluation of INS/GPS
(Inertial Navigation System/Global Positioning System) Mechanization with
Aircraft Real Data.” Ralph Duffy.
Fall 1993: “Neural Network Feed
Forward Compensation of Nonlinear Friction in PID Controller.” Jerry Aguren.
Fall 1992: “An Inertial Navigation
System Aided by Global Positioning System.” Shoukry Tiab.
Fall 1992: “Development of an
Algorithm and Computer Implementation of a Parallel Processing Kalman Filter.”
Eddie Schuller.
Return
to Contents
For
a complete Resume, or more information on any item on this page, E-MAIL :
mgrewal@fullerton.edu.
Copyright &
Copy: 2007