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: (657) 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.
- Third Edition
Kalman Filtering: Theory & Practice Using MATLAB, with CD Wiley IEEE-Press,
2008. 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.
This edition has been completely updated with state of the art examples and problems.
(The Solution 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.
- Second Edition
Global Positioning Systems, Inertial Navigation, and Integration,
with MATLAB CD, 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 Solution 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
·
Invited internet article: “Kalman Filter Implementation with Improved Numerical Properties,” May 21, 2009, GPS World Tech Talk, http://techtalk.sidt.gpsworld.com/
·
Invited article: “What are WAAS GEOs’ L1 and L5 Differential Biases and How Are They
Estimated?” GNSS Magazine, May/June 2008.
·
Patent: “Method and Apparatus for Wide Area Augmentation System Having GEO Uplink Subsystem with Enhanced Clock Steering.” U.S. Patent 7286082, 10/23/2007.
·
Patent: “Method and Apparatus for Wide Area Augmentation System Having L1/L5 Bias Estimation.”
Publication No. WO/2007/037957, May 2007.
·
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.
- “Meritorious Invention Award for Estimation and Compensation of Latency in DGPS Correction Data,”
Boeing North American, Inc., 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)
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·
Accepted for publication: “How Do You Spec a Gyro?”
IEEE Control Systems Magazine Ask the Expert Column.
·
Accepted for publication: IEEE Transactions on Automatic Control,
“Kalman Filter Implementation with Improved Numerical Properties,”
with coauthor James Kain.
·
Invited article: “Applications of Kalman Filtering in Aerospace 1960 to the Present.”
With Angus Andrews. In final revision for publication in IEEE Control Systems Magazine’s 50th Anniversary of Kalman Filtering issue.
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·
Invited presentation: “Kalman Filter Implementation with Improved Numerical Properties,” Geodetic Science and Electrical and Computer Engineering Joint Colloquium, Ohio State University, March 3, 2009.
·
Tutorials: “Fundamentals of Kalman Filtering for GPS/INS Integration (Parts I and II)”, ION GNSS Tutorials, 2008.
- Guest Lecturer: “Kalman Filtering Theory & Practice,” Graduate Short Course, University of Calgary Department of Geomatics Engineering,
July 2007.
·
Instructor: “Application of Kalman Filtering to GPS, INS, & Navigation,” Fullerton Marriott at California State University, sponsored by Kalman Filtering
Consultant Associates. NASA Dryden (August 2006), Edwards AFB (August 2008, July 2007, June 2006, June 2005),
NAWCWD, China Lake, CA (March 2004), and private companies.
Attended by over 500 engineering professionals (local, national and international) from private and government sectors, 1997-present (twice annually).
- Tutorial: “Fundamentals of Kalman Filtering for Navigation,” ION GNSS Tutorials, Fort Worth, Texas, September 2007.
- Tutorial: “Basic Inertial Navigation Systems,”
ION GNSS Tutorials, Fort Worth, Texas, September 2007.
- 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.
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- 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.”
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- Consultant: Application of Kalman Filtering to GPS, INS, & Navigation.
- Geodetics:
Area of GPS/INS Integration.
- 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).
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Measurement Science and Technology
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IEEE Transactions on Aerospace and Electronic Systems
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American Institute of Aeronautics and Astronautics Journal
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IEEE Transactions on Automatic Control
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IEEE Proceedings Control Theory & Applications
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IEEE Transactions on Control Systems Technology
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IEEE Transactions on Education
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IEEE Signal Processing Society
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Journal of Parallel and Distributed Computing
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Electronic Letters, An International Publication, IEE (Michael Faraday House, UK)
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Journal of Guidance, Control, and Dynamics
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American Institute of Aeronautics and Astronautics (AIAA)Guidance and Navigation and Control Journal.
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Swiss Federal Institute of Technology Zurich
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Prentice-Hall
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International Society for Optical Engineering Journal of Optical Engineering.
o
European Journal of Control
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Awards
o
Recipient,
“2008-2009 Outstanding Professor Award” presented by California State University, Fullerton.
o
Recipient,
“Distinguished Engineering Educator Award,” Orange County Engineering Council, presented February 20, 2009.
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Listed in “50+ GPS Leaders to Watch” in GPS World May 2007 issue.
o
Recipient, Outstanding Faculty Recognition:
Service to Students, April 12, 2006
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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.
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Recipient, FDC Grants Sub-Committee Travel Award, April 28, 2003.
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Recipient, Outstanding Faculty Recognition:
Teacher Scholar, CSUF, April 8, 2002.
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Recipient, Distinguished Professor of the Year, CSUF MESA Engineering Program, April 20, 2001.
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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.
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Recipient, 25 year Service Award, CSUF, October 27, 2000
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Recipient, CSUF 1999-2000 Outstanding Faculty Service Recognition (for Outstanding Community Service), April 2000.
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Recipient, CSUF 1998/1999 Outstanding Teaching Innovations with Electronic Technology,” March 1999
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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.
·
Memberships
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Member, Institute of Navigation (ION)
o
Senior Member, IEEE
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Registered Professional Engineer: State of California, August 1977 to present, CS 1398.
o
Fellow, Institute for Advancement of Engineering, installed 1995.
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2008:
“Attitude Estimation by Kalman Filter Based Data Fusion Using MEMS.”
Malia Harris, Joint Research with Kenny Dang. (Submitted to
Institute of Navigation’s 2008 Student Papers category)
2008:
“Attitude Estimation by Kalman Filter Based Data Fusion Using MEMS.”
Kenny Dang, Joint Research with Malia Harris. (Submitted to
Institute of Navigation’s 2008 Student Papers category).
2007:
“Multipath Estimation Using Dual Frequency Filters.”
Teresa Russell.
Fall 2006:
“Ionospheric Estimation Using Dual Frequency Receivers.”
Francisco Zabala.
Fall 2004: “Comparison of the Satellite Position Determination, Using Almanac and Ephemeris Real Data.” John Carey.
Fall 2004:
“Comparison of the Satellite Position Determination, Using Almanac and Ephemeris Real Data.” Terry Wu.
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.
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For a complete Resume, or more information on any item on this page,
E-MAIL
: mgrewal@fullerton.edu.
Copyright & Copy: 2007