8:30 - 12:00, Monday, String 5
510A: Integration of GPS 
with Inertial Nav Systems I — Kalman Basics

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GPS and INS complement each other to achieve continuous high accuracy and reliability. GPS provides precise position and velocity fixes at discrete points in time, while the INS provides precise interpolation between fixes. 510A & B lay the groundwork for understanding current integration methods, and lead to tutorials 
510C & D.

Dr. Alan Pue
Johns Hopkins University,
Applied Physics Laboratory

Kalman Filter System Integration
• Integration with complementary filtering
• GPS/inertial, GPS only examples
• State-space modeling 
• Simplified Kalman filter description

The Kalman Filter
• Bias, random walk, and Markov examples
• Off-line error analysis 
• State augmentation
• Sequential processing 
• Known control inputs

Additional Topics in Kalman Filtering
• Other Kalman forms
• Guarding against divergence 
• Square root Kalman filter
• Suboptimal analysis 
• Least squares
• Linearization and extended Kalman filter

Level: Familiarity with INS and GPS operation, as well as the fundamentals of matrix theory is assumed. Proceed to 510B-D to complete the series.

1:30 - 5:00, Monday, String 5
510B: Integration of GPS with Inertial Navigation Systems II

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The sessions in this half-day tie together the Kalman filtering concepts covered in the morning with their basic uses in GPS/INS integrations.

Dr. Pue

Application to GPS Navigation
• GPS measurement and error models
• GPS/inertial navigation, levels of integration
• Stand-alone GPS navigation
• Cascaded filtering

Introduction to INS/GPS Integration
• Advantages of integration
• Integration architectures
• Example applications

Inertial Navigation Fundamentals
• Coordinate systems
• Earth and gravity models
• Navigation equations

Level: Familiarity with integration concepts as taught in 510A, 
as well as the fundamentals of Kalman filtering and matrix theory, is assumed. Proceed to 510C-D to complete the series.

8:30 - 12:00, Tuesday, String 5
510C: Integration of GPS with Inertial Navigation Systems III

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In 510C & D, current approaches in GPS/INS system design will be discussed. Practical implementation techniques and emerging application areas are covered.

Dr. Pue

Case Studies: Strapdown Inertial Systems
• Sensor technologies
• Micro electromechanical systems
• INS Survey

Navigation System Error Models
• Error definitions
• Navigation error dynamics
• Simplified error characteristics

Loosely-Coupled Systems Design
• GPS/INS interface and timing
• Measurement processing
• Filter design and implementation details

Level: Familiarity with INS and GPS technology is assumed, 
as well as knowledge of matrix theory. 510A&B or equivalent experience required. (Proceed to 510D to complete the series.)

1:30 - 5:00, Tuesday, String 5
510D: Integration of GPS with Inertial Navigation Systems IV

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Case studies, current activities in the field, and new areas of research are emphasized in this half-day.

Dr. Pue

Tightly-Coupled System Design
• Interface and measurement processing
• Measurement models
• Filter design and implementation details

Case Studies: Multi-Sensor Integration
• Terrain aiding and use of relative GPS
• Carrier phase differential GPS integration
• GPS interferometer/INS integration

Future Trends
• Very tightly coupled systems
• Future GPS system improvements
• User technology improvements

Level: Familiarity with INS and GPS technology is assumed, as well as knowledge of integration techniques. 510A-C or equivalent experience required.