• GPS Errors
• Coordinate Transformations
• Measurement Models for GPS
• Fundamentals of Inertial Navigation
• Sensor Performance
• Coning, Sculling
• Continuous and Discrete Plant and Observation Models with Examples
• Application of Kalman Filtering to INS and GPS with Examples
• Feed Forward and Feed Back Configurations
• Tightly and Loosely Coupled
• Deep INS/GNSS Integration (Ultra Tight Configuration)
• Strapdown Navigation Equations for 24 States
• 8 Error State Estimation with 4 Pseudoranges, 4 Delta Pseudoranges with MATLAB®
• Tightly Coupled Examples, 4 states (4, 8, 11 states online)
• INS Sensor Parameters
• 17 State Plant Model
• Example of Vehicular Navigation
• INS for Submarines and Ships
• AHRS