Dr. Aly El-Osery ee

Last Updated: April 23 2020

Tentative Lecture Schedule

Title

File

Date

Reading

Introduction

Introduction |pres| notes| 01/13 Ch.1, Sec. 2.1
Course Overview |pres| notes| 01/13 Ch.1, Sec. 2.1

Navigation Mathematics

Coordinate Frames |pres| notes| 01/16 Sec. 2.1
Rotation Matrix |pres| notes| 01/21 Sec. 2.2
Rotation Matrix (Fixed vs Relative) |pres| notes| 01/23 Sec. 2.2
Other Description of Orientation |pres| notes| 01/28 Sec. 2.2
Translation |pres| notes| 01/30
Angular and Linear Velocity |pres| notes| 02/04 Sec. 2.3
Angular Velocity (quaternion) |pres| notes| 02/11
Earth Surface and Gravity Models |pres| notes| 02/13 Sec. 2.4
Coordinate Frame Transformations |pres| notes| 02/13 Sec. 2.5

Mechanization

Mechanization Overview |pres| notes| 02/20
ECI Mechanization |pres| notes| 02/20 Sec. 5.2
ECEF Mechanization |pres| notes| 02/25 Sec. 5.3
Tangential Mechanization |pres| notes| 02/27 Appendix E.7
Navigation Frame Mechanization |pres| notes| 03/03 Sec. 5.4

Sensors and Error Characterization

Inertial Sensor Errors |pres| notes| 03/03 Ch. 4
Power Spectral Estimation Review |pres| notes| 03/12
Noise Characteristics |pres| notes| 03/12
Error Modeling |pres | notes| 04/07

Error Mechanization

ECI Error Mechnization |pres | notes| 04/14 Sec. 14.2.3
ECEF Error Mechnization |pres | notes| 04/14 Sec. 14.2.4

Estimation

Bayesian Estimation |pres | notes| 04/14
Kalman Filter Example |pres | notes| 04/16

Aided-INS

Aided-INS |pres | notes| 04/20
Initialization |pres | notes| 04/23
INS/GPS System Integration |pres | notes| 04/23