Day 1

– Morning

• Introduction to INS/GPS Integration
• Vectors, Matrices, and State Space
• Random Processes

– Afternoon

• Filtering
• Kalman Filter

Day 2

– Morning

• Inertial Sensors
• Inertial Sensor Calibration

MEMS IMU

– Afternoon

• GPS I
• GPS II
• GPS III

Day 3

– Morning

• Navigation Coordinate Systems
• Attitude Parameterizations
• Inertial Navigation Mechanization

– Afternoon

• Coordinate and Attitude Demo
• Navigation System Errors
• Alignment Methods

Day 4

– Morning

• Loosely-Coupled INS/GPS Design
• Tightly coupled INS/GPS Design
• Multi-Sensor Integration

– Afternoon

• Extended Kalman Filter Example
• EKF Application
• Numerical Considerations

Day 5

– Morning

• Error Budget
• An Example Navigation System

– Afternoon

• Applications
• Discussion Session