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where E bu (0) = bu , var(bu (0)) = Pbu (0) = 0012 The process noise 1 is white, Gaussian, and uncorrelated with p, v, a, and 1 The PSD of 1 3 2 2 (m/s ) 2 is bu = (001) Hz The aiding sensor provides information about the position At discretetime instants, with a sampled rate of f2 = 10 Hz, the sensor output is accurately modeled as yk = pk + by (k) + 2 (k) (75)

A positive odd-integer root of a negative number is another negative number A positive eveninteger root of a negative number is an imaginary number We haven t worked with imaginary numbers yet

Question 8-7

The discrete-time noise samples 2 (k) are zero mean and Gaussian with 2 variance 2 = (10m)2 The sensor y contains a bias by that is modeled as by = y by + 2 (76)

TO-92

Suppose we have a nonzero number x, and two integers p and q We want to multiply x p by x q How can we express x px q as a single power of x

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1 where y 60 , E by (0) = by , var(by (0)) = Pby (0) = 32 m2 and 2 is white, Gaussian and uncorrelated with p, v, a, 1 , 2 , and 1 The PSD of 3 2 2 is by = 30 (m/s) Hz Assuming that the above information is accurate, the objective is to design a system that accurately estimates p, v, and a at the frequency 2

Answer 8-7

f1 The navigation system should maintain the position accuracy to better than 50 m while position aiding information is available and maintain an accuracy of better than 10 m for at least 50 seconds after loss of the position sensor information

1 2 3 4 8 7 6 5

We add the exponents p and q Then we raise x to that power, getting x px q = x ( p + q)

Question 8-8

The system kinematics are described as p v = = v a (77) (78)

Suppose we have a nonzero number x, and two integers p and q We want to divide x p by x q How can we express x p/x q as a single power of x

1 2 8 7 6 5

To these equations, we must augment the accelerometer and position sensor calibration parameters The augmented system kinematics have the form x = f (x, a, ) where x = [p, v, bu , by , ] , = [ 1 , 2 , 1 ] and x2 v a a = 1 1 f (x, a, ) = y by + 2 y x4 + 2 0 0 The initial value of the augmented state is x0 = [E p(0) , E v(0) , bu , by , 0] with covariance Px (0) = diag ([ Pp (0), Pv (0), (001)2 , 32 , (001)2 (710) (79)

Answer 8-8

The navigation mechanization equations are (711)

We find the difference ( p q) Then we raise x to that power, getting x p/x q = x ( p q)

1 2 3 4 8 7 6 5

Question 8-9

where x = [ , v , u , y , ] , acceleration is estimated as a = p b b f ( , a, 0) = x v a 0 y y b 0 = x2

Suppose we have a nonzero number x, and two integers p and q We want to raise the quantity x p to the qth power How can we express (x p)q as a single power of x

(712)

Answer 8-9

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