Dr. Aly El-Osery ee
Last Updated: April 26 2016


Tentative Lecture Schedule

Title

File

Date

Reading

Introduction
Introduction |pres| notes| 01/19 Ch.1, Sec. 2.1
Course Overview |pres| notes| 01/19 Ch.1, Sec. 2.1

Navigation Mathematics
Coordinate Frames |pres| notes| 01/21 Sec. 2.1
Rotation Matrix |pres| notes| 01/26 Sec. 2.2
Rotation Matrix (Fixed vs Relative) |pres| notes| 01/28 Sec. 2.2
Other Description of Orientation |pres| notes| 02/02 Sec. 2.2
Translation |pres| notes| 02/04
Angular and Linear Velocity |pres| notes| 02/09 Sec. 2.3
Angular Velocity (quaternion) |pres| notes| 02/11
Earth Surface and Gravity Models |pres| notes| 02/11 Sec. 2.4
Coordinate Frame Transformations |pres| notes| 02/16 Sec. 2.5

Mechanization
Mechanization Overview |pres| notes| 02/16
ECI Mechanization |pres| notes| 02/18 Sec. 5.2
ECEF Mechanization |pres| notes| 02/23 Sec. 5.3
Navigation Frame Mechanization |pres| notes| 02/25 Sec. 5.4
Tangential Mechanization |pres| notes| 03/01 Appendix E.7

Sensors and Error Characterization
Inertial Sensor Errors |pres| notes| 03/03 Ch. 4
Power Spectral Estimation Review |pres| notes| 03/03
Noise Characteristics |pres| notes| 03/24
Error Modeling |pres | notes| 03/24

Error Mechanization
ECI Error Mechnization |pres | notes| 03/29 Sec. 14.2.3
ECEF Error Mechnization |pres | notes| 03/31 Sec. 14.2.4
Tangential Frame Error Mechnization |pres | notes| 03/31
NAV Error Mechnization |pres | notes| 04/05 Sec. 14.2.5

Estimation
Bayesian Estimation |pres | notes| 04/05
Kalman Filter Example |pres | notes| 04/12

Aided-INS
Aided-INS |pres | notes| 04/14
Initialization |pres | notes| 04/19
INS/GPS System Integration |pres | notes| 04/26
GNSS Part I |pres | notes| Ch. 8
GNSS Part II |pres | notes| Ch. 9