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We can generate Neven by taking each element of N and multiplying it by 2 We can generate Nodd from Neven by taking every element of Neven and adding 1

This approach is analogous to the idea of a complementary lter and is further discussed in Sections 51053 and 73 The linearized system is typically time-varying, see eqns (599) and (5102) The matrix k is the state transition matrix de ned in eqn (354) corresponding to F( (t), u(t), t) for t [tk , tk+1 ) Both k and Qdk x will therefore be time varying A method for computing k and Qdk online is discussed in Section 7252 Several examples and applications are discussed in subsequent chapters In navigation applications, the F matrix is typically not asymptotically stable Therefore, without aiding, the trajectory perturbation typically diverges with time This is exempli ed in Sections 493 and 494 where the divergence between aiding measurements is clearly shown For the linearized error dynamics to remain accurate, either the time interval of interest should be short or some aiding mechanism should be used to ensure that x(t) x(t) remains small 51051 Linearized Kalman Filter

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Question 3-6

Figure 21-2 ULF receiver schematic Part I converter card in a personal computer for recording and displaying the receiver s output in real time or for later viewing The ULF receiver circuit is powered from a dual plus/minus 5 volt power supply, shown in the schematic at Figure 21-4 The power supply will furnish plus and minus 5 volts DC for all of the op-amps in the receiver A 110 to 12 volt center tapped transformer is fed directly to a four diode bridge rectifier The resultant DC signal is then coupled to two 2200 F filter capacitors at C1 and C4 The plus voltage output from C1 is then fed to the input of an LM7805 The output of U1 is then sent to a 1 F capacitor at the positive output terminals The minus voltage output from C4 is sent to a

In certain applications, orbiting satellites or interplanetary travel, the ve hicle is expected to closely follow a predetermined trajectory x(t) that is computed in advance In such applications, where x(t) is a predetermined trajectory, the approximate optimal estimation equations are referred to as a Linearized Kalman Filter In this case, the on-line calculations can be signi cantly simpli ed since the on-line measurements do not a ect the calculation of F, , H, P, Qd, or K Table 57 organizes the calculations of Table 56 into on-line and o -line calculations The estimate of the lter can be interpreted as the error between the actual and prespeci ed nominal trajectory A control law can be designed to attempt to drive this error toward zero 51052 Extended Kalman Filter

In the set N, what is a prime number What s a composite number Are there any natural numbers that are neither prime nor composite Are there any natural numbers that are both prime and composite

In many applications, human driven vehicles or autonomous vehicles with data-reactive missions, the vehicle trajectory cannot be accurately predicted during the design of the navigation system See Part II for several applications of this approach In such applications, the nominal trajectory is de ned to be equal to the estimated trajectory, x(t) = x(t) In this case, the state estimation gain vector K (which is a function of x) will be a function of the stochastic process x(t) Therefore, the gain vector is a stochastic process As long as the state is observable from the measurements and the measurements are

Answer 3-6

Figure 21-3 ULF receiver schematic Part II negative voltage regulator at U2, an LM7905 The output from U2 is then sent to capacitor C6, at the minus voltage output terminals Let s get started building the ULF receiver! Before we begin building the ULF receiver, you will need to

A prime number is a natural number larger than 1 (in other words, 2 or larger) that can only be factored into a product of itself and 1 A composite number is a natural number that s a product of two or more primes All the nonprime numbers larger than 1 are composite According to these definitions, the numbers 0 and 1 are neither prime nor composite No natural number can be both prime and composite

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