# Additional References

This page collects supporting articles and datasheets for the SY6301 course. Each entry pairs a short summary with a download link to the PDF and a pointer to the block where its content is most relevant.

## Schuler Oscillations

<p class="ref-meta"><span class="ref-tag">Block 2</span> 34 KB · short article</p>

A compact derivation of the 84.4-minute Schuler period, the natural oscillation frequency of an inertial navigation system tuned to Earth's radius. The article walks through the closed loop between attitude error, mis-projected gravity, horizontal acceleration error, and the algorithm's level-correction logic, and ends at the result $T_\text{Schuler} = 2\pi\sqrt{R_e/g}$. Read this once after Block 2 to make the wrap-up "why is gravity tilted into the horizontal" intuition rigorous.

[Download / View PDF](../_static/pdfs/schuler_oscillations.pdf)

## Allan Variance Analysis

<p class="ref-meta"><span class="ref-tag">Block 2</span> 2.2 MB · technical reference</p>

The standard reference for characterizing inertial sensor stability across multiple time scales. Allan variance separates the noise contributions (white noise, bias instability, rate random walk, and so on) by computing variance as a function of cluster averaging time. This is what every IMU datasheet does behind the scenes when it quotes a "rate random walk" or "bias instability" number. Useful when you want to interpret the STIM300 datasheet, build a calibration plan, or argue about whether a particular noise source is the dominant contributor to your error budget.

[Download / View PDF](../_static/pdfs/allan_variance_analysis.pdf)

## STIM300 IMU Datasheet

<p class="ref-meta"><span class="ref-tag">Block 2</span><span class="ref-tag">Project</span> 3.1 MB · datasheet</p>

The vendor datasheet for the STIM300 tactical-grade inertial measurement unit, which is the IMU referenced in the F-47 ANS capstone. Contains the gyroscope and accelerometer error specifications (bias, scale factor, random walk, bias instability) that map directly to the $\sigma_a$ and $\sigma_g$ values in any covariance budget you build for the project. Skim the noise tables before reading the Allan-variance article above if you want to see what the analysis is actually measuring.

[Download / View PDF](../_static/pdfs/stim300_imu_datasheet.pdf)

## Kalman Gain Derivation

<p class="ref-meta"><span class="ref-tag">Block 4</span> 95 KB · short article</p>

A clean derivation of the optimal Kalman gain as the minimizer of the trace of the posterior covariance. The article works through the calculus end to end and shows that the gain $K = P^- H^\top (H P^- H^\top + R)^{-1}$ is exactly the inverse-variance weighting of Block 3, applied to a single new measurement against a propagated prior. Worth reading once if the Block 4 reading's "trust me, this is the optimal weight" framing leaves you wanting more.

[Download / View PDF](../_static/pdfs/kalman_gain_derivation.pdf)

## Residual-Based Fault Detection

<p class="ref-meta"><span class="ref-tag">Block 8</span> 1.7 MB · technical article</p>

A more rigorous treatment of the chi-squared innovation test from Block 8. Covers the statistical foundation (why $\boldsymbol{\nu}^\top \mathbf{S}^{-1} \boldsymbol{\nu}$ follows a chi-squared distribution under the null), false-alarm and missed-detection probabilities as a function of threshold, and the design of windowed and sequential tests. Read this if you want to understand the design choices behind the 30-second running window and 27/30 compliance rule in the F-47 capstone.

[Download / View PDF](../_static/pdfs/residual_fault_detection.pdf)

## Resilient Collaborative All-Source Navigation

<p class="ref-meta"><span class="ref-tag">Block 7</span><span class="ref-tag">Block 8</span><span class="ref-tag">Project</span> 13 MB · comprehensive reference</p>

A broad survey of multi-source navigation architectures: how alternative-navigation aiding (MagNav, VisNav, SoPNav, terrain-relative), inertial mechanization, and integrity monitoring fit together in a real operational system. The deepest reference on this list. Also has the most relevance to the F-47 ANS capstone, which uses essentially this architecture (Inertial + GPS + AltNav with multi-filter integrity output).

[Download / View PDF](../_static/pdfs/resilient_all_source_navigation.pdf)

## Project Handout

<p class="ref-meta"><span class="ref-tag">Project</span> 1.9 MB · official course document</p>

The full F-47 ANS Performance Validation project handout, including background, system under test, all four governing requirements, the dataset and analysis-script map, deliverable expectations, and the briefing rubric. The Project Overview page in the sidebar embeds this same PDF inline; this entry just gives you a quick way to download or open it in a separate tab.

[Download / View PDF](../_static/pdfs/sy6301_project_handout.pdf)