Integrated Navigation for Versatility and Robustness: Addressing our Navigation and Tracking Challenges

The course material covered, begins with fundamentals of navigation for versatility and robustness, showing intuitive connections of mathematics to physical examples, followed by a natural transition to advanced topics. Addressing navigation and tracking challenges, practical realities are given top priority, by delivering maximum effectiveness from simplest permissible representations. This course will enable designers to extract maximum benefit from available sensors, however extravagant or austere they may be, at every instant of time throughout a mission.  Administrators will be empowered to recognize what is achievable from any given array of equipment — without the common excessive dependence on GPS.  The course will show methods capable of producing dramatic performance improvements, without which the challenges facing the industry today won’t be met.

What Will You Learn

By attending this seminar, you will be able to identify and explain:
  • Widely accepted expressions for all pertinent translational and rotational motions clearly exhibited without distraction from nonessential complexity
  • Inertial navigation
  • Kalman filtering
  • GPS
  • How the real world doesn't quite follow theory and how to compensate for it
  • How to prepare and integrate raw GPS pseudorange measurements with raw data from gyros, accelerometers, and magnetometers (or other azimuth indicators) adhering to a separate independent time base; extension to GNSS
  • Dramatically simplified yet effective, flight-data validated, Kalman filter model with inertial error propagation counteracted by GPS/GNSS updating
  • How to achieve performance commensurate with GPS/GNSS measurement accuracy from low-cost IMU in presence of large long-term drifts
  • How to follow direct step-by-step procedures, giving you an entirely new depth of understanding
  • Closed form solution for inertial error propagation, tilt and velocity errors; intuitive quantitative results
  • Adaptation of navigation development for application to tracking; exploiting that commonality to characterize INS error propagation between updates
  • Receiver Autonomous Integrity Monitoring (RAIM) with advancements addressing independent usage for each separate measurement, to protect against erratic data points
  • Adaptation of all methods to a variety of PNT data sources other than GNSS

Is This Course For You

This course will be of interest primarily to engineers and/or managers responsible for recommending, designing, or validating (by simulation, bench test, field test, or system test) sensors or software using the chosen array of sensors for navigation or tracking.

Materials Provided

This data is not available at this time

Course Requirements

This data is not available at this time


  • Basic Motion
    • Motion in 1, 2, and 3 dimensions, Relative motion, Modes, Coordinate frames
  • Matrix Methods - ONLY What's Necessary for Nav
    • Types of matrices enabling clarification/insight into patterns of motion
    • Applicable operations and how they demystify dynamic behavior
  • Motion Involving Rotation
    • Angles, Gimbal lock, Direction cosines, Quaternions, Motion over ellipsoid
  • Inertial Navigation Fundamentals & 3-axis platforms, Gyros, Accelerometers, Geographic-vs-wander azimuth
  • Inertial Navigation Processing
    • Rotation and translation increments, Quantization effects, Task lists
  • Inertial Navigation Errors
  • Schuler cycle, Closed form solutions, Intuitive insights
  • Updating to Follow Dynamics
    • Thorough 1-axis channel (North, vertical) scrutiny, Sync, Estimation intro
  • Linear Estimation (Kalman Filtering) Development
    • From simple to full general case, Development followed by various examples
  • Estimation Algorithmic Designs
    • Practical issues, Transition matrix, Modeling, Extended & suboptimal forms
  • Departures from Theoretical Idealizations
    • Block & sequential forms, Nonlinearity, Inexact values, Crucial decisions
  • Satellite Navigation Fundamentals
    • 1, 2, 3, and 4 dimensions, Perturbed elliptical orbits, Timing effects
    • Navigating with GPS
    • Range and pseudorange, ECEF, GPS orbits, ICD, 4-SV snapshot, GDOP
  • Integrity
    • Definitions, methods, parity, outcomes, Extensions beyond GNSS, Examples
  • GPS/INS Integration
    • Full & reduced dynamics, Differencing, Loose/tight/ultra, Process noise
  • Further Integration Steps
    • Data editing by integrity monitoring, Exploiting nav/track commonality
  • Radar - Functions, Types, and Modes
    • High/low/medium PRF, Coherence, Doppler and range gate, Altitude line, mainbeam, and side lobe clutter, Search and track, SAR, Interleaved operations
  • Alternative Sources of Measurement Data
    • Celestial, beacon, radio, hyperbolic, altimeter, optical
  • Results with Inputs from In-Flight Recorded Data
    • Plots of flight path, speed, altitude, attitude, error, Discussion