| Dr. Aly El-Osery |  |
Tentative Lecture Schedule
Title |
File |
Date |
Reading |
Introduction |
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| Course Overview | |pres| notes| | 01/14 | Ch.1, Sec. 2.1 |
| Introduction | |pres| notes| | 01/14 | Ch.1, Sec. 2.1 |
Navigation Mathematics |
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| Coordinate Frames | |pres| notes| | 01/16 | Sec. 2.1 |
| Rotation Matrix | |pres| notes| | 01/16 | Sec. 2.2 |
| Rotation Matrix (Fixed vs Relative) | |pres| notes| | 01/21 | Sec. 2.2 |
| Angle-Axis | |pres| notes| | 01/23 | Sec. 2.2 |
| Quaternions | |pres| notes| | 01/28 | |
| Translation | |pres| notes| | 01/28 | |
| Angular Velocity | |pres| notes| | 01/28 | Sec. 2.3 |
| Linear Velocity | |pres| notes| | 01/30 | Sec. 2.3 |
| Earth Surface and Gravity Models | |pres| notes| | 02/04 | Sec. 2.4 |
| Coordinate Frame Transformations | |pres| notes| | 02/06 | Sec. 2.5 |
| Angular Velocity (quaternion) | |pres| notes| | 02/11 | |
Mechanization |
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| Mechanization Overview | |pres| notes| | 02/11 | |
| ECI Mechanization | |pres| notes| | 02/11 | Sec. 5.2 |
| ECEF Mechanization | |pres| notes| | 02/14 | Sec. 5.3 |
| Tangential Mechanization | |pres| notes| | 02/18 | Appendix E.7 |
| Navigation Frame Mechanization | |pres| notes| | 02/20 | Sec. 5.4 |
Sensors and Error Characterization |
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| Inertial Sensors | |pres| notes| | 02/25 | Ch. 4 |
| Inertial Sensor Errors | |pres| notes| | 02/27 | Ch. 4 |
| Power Spectral Estimation Review | |pres| notes| | 03/04 | |
| Noise Characteristics | |pres| notes| | 03/05 | |
Error Mechanization |
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| ECI Error Mechnization | |pres | notes| | 03/11 | Sec. 14.2.3 |
| ECEF Error Mechnization | |pres | notes| | 03/13 | Sec. 14.2.4 |
| NAV Error Mechnization | |pres | notes| | 03/25 | Sec. 14.2.5 |
| Tangential Frame Error Mechnization | |pres | notes| | 03/25 | |
| Error Modeling | |pres | notes| | 03/25 | |
Estimation |
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| Bayesian Estimation | |pres | notes| | 03/27 | |
| Kalman Filter Example | |pres | notes| | 04/01 | |
Aided-INS |
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| Aided-INS | |pres | notes| | 04/03 | |
| GNSS Part I | |pres | notes| | 04/08 | Ch. 8 |
| GNSS Part II | |pres | notes| | 04/10 | Ch. 9 |
| INS/GPS System Integration | |pres | notes| | 04/15 | |
| Initialization | |pres | notes| | 04/17 | |