├── Book ├── 2rd edtion.pdf ├── Appendix_B.pdf ├── Appendix_C.pdf ├── Errata2015.pdf └── Solution Manual.pdf ├── Code ├── Chapter01 │ ├── LeastSquaresFit.m │ └── RMSHorINS1m.mat ├── Chapter02 │ └── expm1.m ├── Chapter03 │ ├── CumProbGauss.m │ ├── GaussEqPart.m │ ├── PlotpYArctanaX.m │ ├── meansqesterr.m │ ├── pChiSquared.m │ ├── pLaplace.m │ ├── pLogNormal.m │ ├── pNormal.m │ ├── pUniform.m │ └── pYArctanaX.m ├── Chapter04 │ └── VanLoan.m ├── Chapter05 │ ├── F2Phi.m │ ├── OBSUP.M │ ├── ProbCond.m │ ├── TIMEUP.M │ ├── exam57.m │ └── exam58.m ├── Chapter06 │ ├── BMFLS.m │ ├── FIS3pass.m │ ├── FPSperformance.m │ ├── FiniteFIS.m │ └── RTSvsKF.m ├── Chapter07 │ ├── SPDinv.m │ ├── SPDinvIP.m │ ├── Schmidt.m │ ├── UDInvInPlace.m │ ├── UD_decomp.m │ ├── UDdecompIP.m │ ├── UDinv.m │ ├── VerifySchmidt.m │ ├── bierman.m │ ├── carlson.m │ ├── housetri.m │ ├── joseph.m │ ├── josephb.m │ ├── josephdv.m │ ├── modchol.m │ ├── potter.m │ ├── shootout.m │ ├── thornton.m │ ├── udu.m │ └── utchol.m ├── Chapter08 │ ├── ArctanExample.m │ ├── EKFDampParamEst.m │ ├── ExamIEKF.m │ ├── NonLin.m │ ├── UTscaled.m │ ├── UTscaledDemo.m │ ├── UTsimplex.m │ ├── UTsimplexDemo.m │ ├── dhdxarctan.m │ ├── hCompSens.m │ ├── harctan.m │ └── utchol..m ├── Chapter09 │ ├── InnovAnalysis.m │ ├── KFvsSKF.m │ ├── SKF_Obs.m │ └── SKF_Temp.m ├── Chapter10 │ ├── AltStab.m │ ├── Big8TrackSimENU.m │ ├── ClockStab.m │ ├── ClockStability.m │ ├── DAMP3ParamsD.m │ ├── DiagMat.m │ ├── FNSmat12to9.m │ ├── Fcore4.m │ ├── Fcore7.m │ ├── Fcore9.m │ ├── Fig8Mod1D.m │ ├── Fig8TrackSimRPY.m │ ├── GNSSINS1.m │ ├── GNSSINS123.m │ ├── GNSSINS1230.m │ ├── GNSSshootoutNCE.m │ ├── GNSSshootoutWCE.m │ ├── GPS1FreqOnly.m │ ├── GPS2FreqOnly.m │ ├── HSatSim.m │ ├── INSErrBud0point1NMiPerHr.m │ ├── INSErrBud10NMiPerHr.m │ ├── INSErrBud1NMiPerHr.m │ ├── MODL5Params.m │ ├── MODL6Params.m │ ├── MediumAccuracyINS.m │ ├── PGPSinit.mat │ ├── ReadYUMAdata.m │ ├── SatelliteGeometry.m │ ├── SchmidtKalmanTest.m │ └── YUMAdata.m ├── 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