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If the gain sequence Lk is known, then eqns (4125 4127) can be iterated to quantify the expected accuracy of the state estimation design for the given Lk Eqn (4127) is true for any state feedback gain Lk ; therefore, this equation allows the performance (as measured by state error covariance) of alternative gain sequences to be quantitatively compared In fact, eqn (4127) expresses the covariance of the state estimate immediately after the measurement correction as a function of the estimation gain vector Lk ; therefore, a new gain vector could be selected at each time instant to minimize the state estimation error variance This is the topic of optimal stochastic state estimation which is discussed in 5

.

This section presents a few detailed examples intended to demonstrate the utility of random variables and stochastic processes in relation to navigation applications Sections 491 and 492 focus on frequently asked questions Sections 493 and 494 discuss navigation examples that are relatively simple compared to those in Part II of the book, but follow the same methodology

The following example, which assumes the my_mess message has already been created, adds a to recipient, a cc recipient, and a bcc recipient:

Various terms are used to characterize navigation system performance This section uses results from linear algebra, properties of Gaussian random variables, and the change of variable concepts from Section 434, to derive the relationships between these alternative performance characterizations The discussion makes two basic assumptions: 1 The position error vector w = [n, e, d] able is a Gaussian random vari-

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tell my_mess make new to recipient at end of to recipients with properties {name:"Chris Smith", address:"chris__smith@maccom"} make new cc recipient at end of cc recipients with properties {name:"Jan Ramirez", address:"janramirez44@gmailcom"} make new bcc recipient at end of bcc recipients with properties {name:"Dan Philps", address:"dan_philps@hotmailcom"} end tell

2 The components of the position error are unbiased The validity of the assumptions must be considered in the use of the subsequent results The Normal (Gaussian) assumption is motivated by the Central Limit Theorem Although the assumption may not be absolutely valid, the large number of small, independent error sources in a navigation system results in error distributions which can be accurately approximated as Gaussian This assumption is not typically a major source of di culty The unbiased assumption must be considered more carefully The unbiased assumption can be considered as a distinction between precision and accuracy Ideally, an analyst would calculate errors as x = x x where

To add multiple recipients of the same type, use a make new statement for each recipient You can also use a repeat loop

x denotes the true value of the variable When x is unknown, the analyst x might instead calculate the error as xc = x where x denotes the average of the x values1 If there is a bias between x and x, then the second order statistics of xc (standard deviation or variance) will indicate the precision of x without indicating its accuracy 4911 Analysis in Three Dimensions

When you need to send a file as an attachment, use a make new attachment command to tell the content object of the message object to add the attachment and where to put it The attachment class has only one property, file name, which you use to specify the path and name of the file you want to attach For example, the following statement assigns an alias to the file Macintosh HD: Users:dan:Documents:User Guidepdf to a variable named myFile, which it then uses to attach the file to the message referenced by the variable my_mess:

Let w = [n, e, d] denote the position error variables Denote the covariance matrix for w by the symmetric positive de nite matrix P = E ww Given the above assumptions that w N (0, P), the probability density is pw (n, e, d) = 1 (2 )

|P|1/2

set myFile to alias "Macintosh HD:Users:guy:Documents:User Guidepdf" tell my_mess tell the content make new attachment with properties {file name:myFile} at after last paragraph end tell end tell

(4128)

To attach multiple files to the same message, use a separate make new attachment statement for each file Alternatively, use a repeat loop to add the files

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