USAF Test Pilot School · SY6301 · Class 26A

Navigation & State Estimation

Nine lecture blocks. One individual homework. One group project.

Start Block 1 → Project handout Homework handout Download materials

01

Frames & Errors

Reference frames, DCMs, and the metrics that reduce position error.

02

Inertial Errors

IMU errors integrate into drift; Allan variance and the Schuler cycle.

03

Optimal Fusion

Inverse-variance weighting of two estimates of the same quantity.

04

Scalar Kalman Filter

Predict / update in one dimension; gain as trust factor.

05

Multi-State Kalman Filter

Vector state, cross-covariance, 4D and 6D simulated motion.

06

GPS Fundamentals

Pseudoranges, the four-unknown fix, DOP, error sources.

07

Extended Kalman Filter

Nonlinear measurement models, GPS Jacobian, tight coupling.

08

Fault Detection & HMI

Mahalanobis testing, protection levels, spoof quarantine.

09

Statistical Test Planning

The math behind the F-47 ANS project: ECDFs, drift CIs, 27/30 rule.

Group deliverable

Project PRR

50% of course grade

Due Friday 12 June, 0800

Open project handout →

Individual deliverable

Homework

50% of course grade

Due Sunday 14 June, 2359

Download materials →

Terminal Learning Objectives

By the end of this course you should be able to:

1. Apply foundational navigation concepts to air and space systems.

2. Construct and analyze navigation measurement and dynamic models (GPS, INS, AltNav).

3. Implement and evaluate estimation methods (least squares, Kalman filter, EKF).

4. Assess navigation performance, integrity, and fault behavior using quantitative metrics.

5. Synthesize and communicate data-driven conclusions for navigation systems under test.

Rules of engagement

1. These are my slides. Flag anything that could be sharper.

2. We’re going from zero to hero in 9 hours. Full understanding requires both attention and interaction. Stay engaged.

3. Ask questions early and often. Slow me down anytime.

4. I’ve been a TPS student myself, so I get the priority calls. Side-task when you must, be considerate of others, and own the consequences.

5. Slides are not meant to stand alone. Take notes actively.

6. Use the course website to get deeper insights and reference materials.

7. I’m TDY here all week for you. Reach out on Slack anytime if you’re stuck.

What Each Lesson Contains

• Reading. The main text for the block. Read this before or after class to reinforce the slides.

• Flashcards. Key terms, equations, and concepts in click-to-reveal cards for quick review.

• Demos. Interactive in-browser walkthroughs for each block’s hands-on demonstration: animated trajectories, draggable elements, live sliders, and synchronized error / monitoring panels. A MATLAB implementation of each demo is also included in the course code distribution for students who want to inspect or modify the underlying numerics.

The Additional References section in the sidebar collects supporting articles and datasheets along with two short videos that illustrate spoof detection and HMI exposure.