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)
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
On-line information, including Dr. Grewal's qualifications, other
on-site offerings, and past participants' comments, can be accessed
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?
Linear Dynamic Systems
Day 2: OPTIMAL LINEAR ESTIMATION
Jointly Gaussian Processes
The Orthogonality Principle
Observability and Controllability
Gyro and Accelerometer Models
Application of Kalman Filtering to Inertial Navigation System (INS)
Computer Demo and Workshop
Day 3: PRACTICAL CONSIDERATIONS & APPLICATIONS
Divergence of Kalman Filters and Effective Cures
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
Efficiency (Computational Efficiency)
Application to ITS, Aircraft, Missile and Attitude Determination of
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
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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