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Thread Subject:
Kalman Filtering Application to GPS, INS, & Navigation

Subject: Kalman Filtering Application to GPS, INS, & Navigation

From: kfcas@aol.com (Sonja Raine)

Date: 23 Nov, 1998 16:59:11

Message: 1 of 1


The 40 hour short course "Application of Kalman Filtering to GPS, INS,
& Navigation" is scheduled for January 11-15, 1999, at the Fullerton
Marriott Hotel in Fullerton, California.* See web page at
http://members.aol.com/kfcas/index.html for more information.
Application oriented course includes notes, text, algorithms (MATLAB)
experience-based instruction.

Instructor is Dr. M. S. Grewal. Students praise his state of the art
experience-based instruction. Past participants comprise an
international group, as well as private and governmental agency
participants from the US. The course was recently offered on-site at
Raytheon Systems.

On-line information, including Dr. Grewal's qualifications, other
on-site offerings, and past participants' comments, can be accessed
on-line at
http://members.aol.com/kfcas/index.html

To receive a printed course brochure, e-mail your postal address.

Sonja Raine, Arrangements
*The course outline follows--

Day 1: REVIEW OF FUNDAMENTALS
What is a Kalman Filter?
Matrix Theory
Linear Dynamic Systems
Probability Theory
Random Variables
Random Vectors
Random Processes
Error Propagation
Solutions

Day 2: OPTIMAL LINEAR ESTIMATION
Definitions
Jointly Gaussian Processes
The Orthogonality Principle
Stochastic Modeling
Observability and Controllability
Recursive Filters
Discrete Estimation
Gyro and Accelerometer Models
Application of Kalman Filtering to Inertial Navigation System (INS)
Computer Demo and Workshop

Day 3: PRACTICAL CONSIDERATIONS & APPLICATIONS
Introduction
Divergence of Kalman Filters and Effective Cures
Nonlinearity Considerations
Suboptimal Filtering
Organization and Design of a Kalman Filter Computer Program
Prefiltering and Data Rejection
Application to Autonomous Navigation and Tracking
Computer Demo and Workshop - Filter Tuning


Day 4: ADVANCED TECHNIQUES
An Overview of the Algebraic Landscape
Square Root Filtering
Measurement Updates (UDU^T)
Temporal Update Algorithms (UDU^T)
Schmidt - Kalman Filter
Extended Kalman Filtering
Adaptive Filtering
Efficiency (Computational Efficiency)
Application to ITS, Aircraft, Missile and Attitude Determination of
Satellites
Computer Demo of UDU^T

Day 5: APPLICATIONS OF GPS
Coordinate Transformations --ECI, ECEF (WGS-84), Locally Level
Description of GPS and DGPS (Differential GPS)
Crystal Clock Modeling & Geometric Dilution of Precision (GDOP)
Errors, Satellite Clock (including Selective Availability), Satellite
Positions,
               Ionosphere, Troposphere, Multipath, Receiver Noise
Compensation and Estimation of Latency in GPS and DGPS Data
Dynamic Plant Models and Observation Equations
Wide Area Augmentation System (WAAS, including algorithm development),

               Wide Area DGPS, Local Area DGPS
GPS/INS Modeling and State Estimation
Integrated GPS and INS (Tightly and Loosely Coupled)
Computer Demo and Workshop - GPS

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