GPS/GNSS Technical Training Courses

GPS/GNSS Courses for 2024!

GNSS Courses Offered in the Following Areas
 Inertial systems, Kalman filtering and GPS / GNSS integration
 GPS/GNSS operations for engineers and professionals
 Using advanced GNSS signals and systems
 GPS/GNSS fundamentals
 Differential GPS

NavtechGPS is celebrating 40 years of serving the PNT

community as the go-to company for GPS, GNSS, and
inertial navigation training.

Unsurpassed GPS/GNSS technical training demands

experience, expertise and world-class instructors.
V 1022024

www.NavtechGPS.com • 800.628.0885 • +1.703.256.8900 • Woman-Owned Small Business

 About Our Public Courses and Private Group Courses

GPS/GNSS Training Our Experience

NavtechGPS is a world leader in GPS/GNSS education with We have been presenting our courses internationally
40 years of experience and a comprehensive list of course and domestically to civil, military and governmental
offerings. Our courses are taught by world-class instructors organizations since 1984. See sampling of the organizations
who have trained thousands of GNSS professionals. in this catalog and numerous attendee testimonials on our
website. https://www.navtechgps.com/gps-gnss-training/
testimonials/
Our Courses
Our Public Course Venues. We present our most popular
courses either remotely or at choice locations a few times Contact Us
each year for the GPS/GNSS community to attend (for the We will provide you with information about your training
forseeable future, public courses will be presented remotely). options and happily address all your questions.
*Recipient of The Institute
Private Group Courses. Our private group courses are of Navigation 2015
often more desireable because your group learns in a Norman P. Hays Award
secure setting and the per person fee is lower. Private for the development and
group training also allows us to tailor a course to your production of over 35 years
of engineering tutorials
organization’s needs. You can choose one of the classes in the field of satellite
listed in the catalog or a combination to be customized for Trevor Boynton Carolyn McDonald* navigation, timing and
your group. Private courses are available both remotely and Seminar Manager CEO, President and inertial navigation; and for
on-site tboynton@ Seminar Director development and sustained
NavtechGPS cmcdonald@ support of The ION's
NavtechGPS conference programs.
.
+1-703-256-8900
+1-571-226-0649

CONTENTS
About Our Public Courses and Private Group Courses ..................................................................................................................................................................................................2

Our Instructors..................................................................................................................................................................................................................................................................................4

Read What Our Attendees Have Said!....................................................................................................................................................................................................................................5

Course 346: GPS/GNSS Operation for Engineers & Technical Professionals/Course 122: GPS Fundamentals and Enhancements (April 2023, 8 half
days of Course 346, the first four days of which are Course 122) ..............................................................................................................................................................................6

Course 346: GPS/GNSS Operation for Engineers & Technical Professionals/Course 122: GPS Fundamentals and Enhancements (December 2023, 4
full days of Course 346, the first two days of which are Course 122).......................................................................................................................................................................7

Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (May/June 2023, 10 half days) ...............................................................................................8

Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (December 2023, 5 full days).................................................................................................9

Course 336: GPS/GNSS Fundamentals and Enhancements with Emphasis on DGPS................................................................................................................................ 10

Couses 356: GPS/GNSS and DGPS Operation for Engineers & Technical Professionals ................................................................................................................................ 11

Course 356B: GPS/GNSS Operation, DGPS, GPS Signals & Processing ................................................................................................................................................................. 12

Registration Forms and Fees for Public Remote Courses.....................................................................................................................................13-14

†NavtechGPS is a Florida approved provider for Courses 122 and 346.

2
 Spring Remote Public Courses
April 29-May 2, 2024, Course 346 and 122 , 9AM-4:30PM, Eastern Standard Time
MONDAY TUESDAY WEDNESDAY THURSDAY
April 29 April 30 May 1 May 2

Course 346: GPS/GNSS Operation for Engineers and Technical Professionals (4 Days)
Instructor: Dr. Chris Hegarty, MITRE

Course 122: GPS/GNSS Fundamentals

and Enhancements
(Days 1 and 2 of Course 346)
Instructor: Dr. Chris Hegarty, MITRE

May 13-17, 2024, Course 557, 9AM-4:30PM, Eastern Standard Time

MONDAY TUESDAY WEDNESDAY THURSDAY FRIDAY

May 13 May 14 May 15 May 16 May 17

Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (5 Days)
Instructor: Dr. Alan Pue, JHU/APL and Mr. Michael Vaujin, Aerospace, Navigation & Defense Consultant

Fall Remote Public Courses

November 18-21, 2024, Course 346 and 122 , 9AM-4:30PM, Eastern Standard Time
MONDAY TUESDAY WENDESDAY THURSDAY
November 18 November 19 November 20 November 21

Course 346: GPS/GNSS Operation for Engineers and Technical Professionals (4 Days)
Instructor: Dr. Chris Hegarty, MITRE

Course 122: GPS/GNSS Fundamentals

and Enhancements
(Days 1 and 2 of Course 346)
Instructor: Dr. Chris Hegarty, MITRE

December 9-13, 2024, Course 557, 9AM-4:30PM, Eastern Standard Time

MONDAY TUESDAY WEDNESDAY THURSDAY FRIDAY

December 9 December 10 December 11 December 12 December 13

Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (5 Days)
Instructor: Dr. Alan Pue, JHU/APL and Mr. Michael Vaujin, Aerospace, Navigation & Defense Consultant

Learn about the Benefits of Private Group GNSS

Training Courses for Your Team

Visit our site at https://www.navtechgps.com/gps-gnss-training/gnss-group-training/

3
 Our Instructors
NavtechGPS has been leading the way in GPS/GNSS training for 40 years.
Our world-class instructors will have you develop top-level skills.
Franck Boynton, NavtechGPS VP and CTO, heads the NavtechGPS product division. NavtechGPS sells
GPS and GNSS products from over 30 leading manufacturers and offers technical advice on complex pre-
cise positioning projects in addition to offering technical GNSS training through its seminar division.
Since 1988, Boynton has been involved in the testing and operation of GNSS receivers, antennas, boards,
data link products and related equipment. He specializes in custom system development and the design
and implementation of high performance GNSS components. Boynton is a member of The Institute of Navigation
and won a "Best Paper" award for GPS applications at the ION GNSS 2003 meeting. He has also co-chaired sessions
at past ION meetings and co-chaired "New Products and Commercial Services" at ION GNSS+ 2013. He is a Navtech-
GPS technical board member and a corporate officer.

Christopher Hegarty, D.Sc., is a director with the MITRE Corporation, where he has worked mainly on
aviation applications of GNSS since 1992. He is currently the chair of the Program Management Commit-
tee of RTCA, Inc., and co-chairs RTCA Special Committee 159 (GNSS). He served as editor of NAVIGATION:
The Journal of the Institute of Navigation from 1997-2006, and as president of The Institute of Naviga-
tion in 2008. He was a recipient of the ION Early Achievement Award in 1998, the U.S. Department of
State Superior Honor Award in 2005, the ION Kepler Award in 2005, the Worcester Polytechnic Institute Hobart
Newell Award in 2006, the RTCA Achievement Award in 2014, and the GPS World Leadership Award in 2017. He is a
fellow of the ION and IEEE, and a co-editor/co-author of the textbook, Understanding GPS/GNSS: Principles and
Applications, 3rd. edition.

Alan J. Pue, Ph.D., (Retired) was the chief scientist of the Air and Missile Defense Sector at The
Johns Hopkins University Applied Physics Laboratory (JHU/APL). Since 1974, he had worked at JHU/
APL on a wide variety of guidance, control, and navigation projects, including automated ground
vehicle control research, space telescope pointing control, and missile guidance, navigation, and
control. He has frequently consulted and served on engineering review boards or has led concept
developments for major acquisition programs. He is now a member of the Air Force Scientific Advisory Board.
For over 30 years, Dr. Pue has been a graduate lecturer on Linear Systems Theory and Control System Design
Methods for The Johns Hopkins University.

Michael Vaujin is an aerospace, navigation and defense consultant currently working for an aero-
space engineering firm in Tucson, Arizona. He has over 35 years of experience in the fields of navi-
gation and data fusion, and has designed aided strapdown solutions for land, sea, and airborne
platforms using munition, tactical and navigation grade IMUs. He received his B.S.E.E. from the Uni-
versity of Florida in 1987 and his M.S.E.E. degree from the University of South Florida in 1991. During his
16 years at Honeywell Aerospace, he was awarded five patents in aided navigation. At the 2010 Institute of
Navigation GNSS conference, he was asked to present at a special panel celebrating the 50th anniversary of
the inv ention of the Kalman filter.

4
 Read What Our Attendees Have Said!
and interesting course!” “My goal for the course taught by Dr. Alan Pue
— Heiko Engwerda, NLR, July 2020 (Remote was to understand how IMUs were integrated
About Course 336/356: GPS/GNSS Course into the Kalman filter. The second day’s lecture
Fundamentals and Enhancements with way very helpful for that purpose.”
Emphasis on DGPS (Same course, reconfigured) “The video quality was excellent; I am very — Paul Massatt, Aerospace, July 2020 (Remote
pleased with the Webex platform. I don’t feel Course)
“After 20 years in the GNSS domain (with as though going through the course remotely
emphasis in SBAS), [the instructor was able to] had any negative impact. It was still very “My main objectives were to learn the aspects
recap, reinforce knowledge and also deepen personal, easy to ask questions, and I enjoyed of and how to implement modern navigation
my knowledge in some areas where I had the banter over coffee in the morning even algorithms. The course definitely met those
less experience. The goals have been met. if we were all scattered across the world. Mr. objectives.”
{Dr. Hegarty] was very clear, kind and with a Boynton, Ms. McDonald, and Dr. Hegarty were — Travis Noffke, EXB Solutions, July 2020
very good background and recognition at so friendly and welcoming. This was such a (Remote Course)
international level. I was honored to be taught great experience.”
by Dr. Hegarty. “ — Shealyn Greer, Trident Research, July 2020 “Can’t speak highly enough. Mr. Vaujin was
— Felix Toran, ESTEC, November 2018 engaging and taught the course like a veteran
“I was most excited to learn about GPS IMU designer teaching novices what to do
“This was a very high-quality course. Much receivers and antennas. I really didn’t know when they design their own IMU. Do this
better and more informative than what I much about GPS hardware before this trick of the trade. Watch out for that pitfall. Be
was expecting. The subject matter expert [Dr. course. Dr. Hegarty walked us through each explicit with your vector notation. All of those
Hegarty] had incredible knowledge and was component of a receiver and antenna, and things Vaujin did and I felt were immensely
entertaining to listen to. Also great reference I feel it was very beneficial to understand helpful.”
materials.” the GPS algorithm as it relates to physical — Cody Carter, USAF, July 2020 Remote Course)
— Jerry Rodriquez Melo, Patuxent, MD, February components.”
2018 — Shealyn Greer, Trident Research, July 2020 Both instructors were very knowledgeable and
had great presence. The excitement on the
About Course 346: GPS Operations for The teaching style was excellent! Well presented topics of each instructor was very evident and
Engineers and Technical Professionals from an engineering perspective, also high made it easier for me to stay engaged.
“I was very pleased with the instructor’s enough level for a non-engineer who is — Cameron Little, US Navy, July 2022
teaching style. Dr. Hegarty was very organized math knowledgable. Really liked how Chris
and handled all questions completely. The introduced live scenarios and how theory is It is easy to tell that this course is taught
class was only four days and it covered applied to actual equipment. by passionate instructors, and that comes
everything I was interested in to the — Eric Velez, US Navy, February 2022 through both in their mastery of the subject
appropriate detail. If anything, slightly more material, and enthusiasm in presenting the
coverage of non-GPS constellations as our Dr. Hegarty was excellent. His wealth of subject matter in a concise and easy-to-follow
work at Samsung involves. knowledge and experience was very apparent. manner. Despite the difficulty of the material,
He did a great job breaking down complex this course is one of the most well-taught
There were not technical “hiccups” or anything concepts and ensuring the class had a good courses I’ve had the pleasure of taking. I urge
like that over the course of four days. Mr. understanding before moving on. Also, his both of the instructors to keep teaching, as
Boynton moderated and helped keep things humor helped lighten the class material and an instructor’s passion is instrumental in a
perfectly on schedule. kept everyone engaged! student’s absorption of material. Needless to
— William Schintler, Samsung Semiconductor, — Military attendee. Name witheld upon say, they both have passion in spades.
2022 (Remote Course) request, May 2018, Falls Church, VA — Aaron Bruinsma, L3 Harris Wescam,
December 2021
“Chris has some really great analogies for “My objective was two-fold. (1) Refresh my
complex parts of GNSS. I also appreciated him knowledge of comunication systems and (2) “It was very engaging and helped me learn
asking questions that facilitate engagement. Learn how communications technology is topics that could have been tough to
I have been working with GNSS receivers for used within GPS. Dr. Hegarty’s course gave an understand otherwise…Everything seemed
several months now, but the course really excellent in-depth overview of communation relevant to our line of work.
helped me gain a deeper understanding of systems and provided all the details to
code-based vs carrier-based measurements. understand how GPS works. I loved this — US Military, Name Withheld Upon Request,
I also found the analysis of how different course and believe it met all my objectivies. 2022
aspects of a GNSS receiver influence accuracy Thank you!“
to be especially useful. — Alexander DeRieux, Naval Research
— David Ashbrook, ST Microelectronics, 2022 Laboratory, Washington, DC, December 2017
"
(Remote Course)
About Course 557: Inertial Systems,
“The teaching style was very good. Dr. Hegarty Kalman Filtering and GPS/INS
was very effective at taking a massive amount Integration (Same course, reconfigured)
of information and presenting it in a clear and “I have recently become interested in learning
well-paced manner even with the challenge of about strapdown navigation. My objective
the virtual format.” was to increase my exposure to the topic and
— Ryan Burgess, November 2021 (Remote gain a more solid overview.
Course) This course met and exceeded my objectives.“
— Kenneth Bentley, United States Air Force, July
“The scheduling was perfect, very nice that we 2020 (Remote Course))
could join from Europe. Also the amount of
material and number and interval of breaks
was well thought of. Thank you for the useful Read more at
https://www.navtechgps.com/gps-gnss-training/testimonials/

5
 PUBLIC REMOTE COURSE: APRIL 29-MAY 2, 2024 9:00-4:30 EST (PRIVATE GROUP OPTION AVAILABLE)
Course 346: GPS/GNSS Operation for Engineers & Technical Professionals:
Principles, Technology, Applications and an Introduction to Basic DGPS (2.4 CEUs)
DAYS 1 AND 2 MAY BE TAKEN AS COURSE 122. SEE REGISTRATION FORM

DAY 1 DAY 2 DAY 3 DAY 4

Dr. Chris Hegarty
Fundamentals of GPS operation. Overview of GPS Principles and Technologies Differential GPS Overview GPS Signal Processing
how the system works. U.S. policy and current ● Local- and wide-area architectures ● In-phase and quadra-phase signal paths
status. Clocks and Timing ● Code vs. carrier-phase based systems ● Analog-to-digital (A/D) conversion
● Importance for GPS ● Data links; pseudolites ● Automatic gain control (AGC)
GPS System Description ● Timescales ● Performance overview ● Correlation channels
● Overview and terminology ● Clock types ● Acquisition strategies
● Principles of operation ● Stability measures Differential Concepts
● Augmentations ● Relativistic effects ● Differential error sources Code Tracking, Carrier Tracking & Data
● Trilateration ● Measurement processing Demodulation
● Performance overview Geodesy and Satellite Orbits ● Ambiguity resolution ● Delay locked loop (DLL) implementations;
● Modernization ● Coordinate frames and geodesy ● Error budgets performance
● Satellite orbits ● Frequency locked loops (FLLs)
GPS Policy and Context ● GPS constellation DGPS Standards and Systems ● Phase locked loops (PLLs)
● Condensed navigation system history ● Constellation maintenance ● RTCM SC104 message format ● Carrier-aiding of DLLs
● GPS policy and governance ● USCG maritime DGPS and National DGPS ● Data demodulation
● Modernization program Satellites and Control Segment (NDGPS)
● Ground segment ● GPS satellite blocks ● Commercial satellite-based systems Receiver Impairments and Enhancements
● Other satellite navigation systems ● Control segment components and ● Aviation systems: satellite-based and ● Impairments - bandlimiting, oscillators,
operation ground-based (SBAS/GBAS) multipath, interference
GPS Applications ● Monitor stations, MCS, and ground ● RINEX format, CORS and IGS networks ● Enhancements - carrier smoothing, narrow
● Land antennas ● Precise time transfer correlator, codeless/semicodeless track-
● Marine ● Upload operations ing, vector tracking, external aiding
● Aviation ● Ground control modernization
● Science
● Personal navigation
● Accuracy measures
● Error sources

Lunch
Legacy GPS Signals Error Sources and Models GPS Signal Structure and Message Content GPS Navigation Algorithms: Point
● Signal structure and characteristics ● Sources of error and correction ● Signal structure Solutions
● Modulations: BPSK, DSSS, BOC models ● Signal properties ● Pseudorange measurement models
● Signal generation ● GPS signals in space performance ● Navigation message ● Point solution method and example
● Navigation data ● Ionospheric and tropospheric effects
● Multipath GPS Receiver Overview Introduction to Kalman Filtering
Measurements and Positioning ● Error budget ● Functional overview ● Algorithm overview
● Pseudorange and carrier phase measurements ● Synchronization concepts ● Process and measurement models for
● Least squares solution Augmentations and Other ● Acquisition navigation
● Dilution of precision Constellations ● Code tracking ● Simulation examples
● Types of positioning solutions ● Augmentations: local-area, satellite- ● Carrier tracking
based, and regional ● Data demodulation Practical Aspects
GPS Receiver Basics ● Russia’s GLONASS ● Types of GPS and DGPS receivers
● Types of receivers ● Europe’s Galileo GPS Antennas ● Understanding specification sheets
● Functional overview ● China’s Compass (BeiDou) ● Antenna types ● Data links
● Antennas ● Antenna performance characteristics ● Antennas
Precise Positioning ● Prefilters ● Receiver and interface standards
● Precise positioning concepts ● Low-noise amplifiers (LNAs) ● Accessories
● Reference station networks ● Noise figure ● Supplemental notes: Tracing a GPS signal
● RINEX data format through a receiver

Course Description  Ability to use Adobe Acrobat sticky notes on electronic course notes.
Take this 4-day course to gain a comprehensive understanding of GPS/GNSS  NavtechGPS Glossary of GNSS Acronyms.
system concepts, design and operation, including information on GPS signal  A black and white hard copy of the course notes.
processing by the receiver; techniques by which GPS obtains position, velocity and  A textbook from the list below.
time; and a brief introduction to differential GPS (DGPS) and Kalman filtering. This
course is similar to Course 356 (5 days), but with less emphasis on DGPS and
Course Fee Entitles You to One of the Following Books
Understanding GPS: Principles and Applications, 3rd ed., Elliott Kaplan & Chris
Kalman filtering. (Note: The first two days are the same as Course 122. Course
Hegarty, Eds., Artech House, 2017, OR
346 expands on the concepts introduced in 122.)
• Global Positioning System: Signals, Measurement and Performance, P. Misra
Objectives and P. Enge, 2nd ed., 2011, OR
This course is designed to give you • Engineering Satellite-Based Navigation & Timing: GNSS, Signals and Receivers,
 A comprehensive introduction to GPS, system concepts, an introduction to John Betz, Ph.D.
DGPS, design, operation, implementation and applications. • GPS Basics for Technical Professionls, P. Misra, 2019.
 Detailed information on the GPS signal, its processing by the receiver, and the • Introduction to GPS: the Global Positioning System, 2nd Ed., A. El-Rabbany,
techniques by which GPS obtains position, velocity and time. 2006.
 Current information on the status, plans, schedule and capabilities of GPS,
as well as of other satellite-based systems with position velocity and time
What Attendees Have Said
“The video quality was excellent; I am very pleased with the Webex
determination applications. platform. I don’t feel as though going through the course remotely had
 Information to fill the technical gaps for those working in the GPS/GNSS fields. any negative impact. It was still very personal, easy to ask questions,
and I enjoyed the banter over coffee in the morning even if we were
Who Should Attend? all scattered across the world. Mr. Boynton, Ms. McDonald, and
Excellent for engineering staff who need to be rapidly brought up to speed on Dr. Hegarty were so friendly and welcoming. This was such a great
GNSS, and for those already working in GPS who need exposure to the system as experience.” — Shealyn Greer, Trident Research, July 2020
a whole in order to work more effectively.

Prerequisites Instructor
Familiarity with engineering terms and analysis techniques. General familiarity with
matrix operations and familiarity with signal processing techniques is desirable.

Materials You Will Keep

 A color electronic copy of all course notes provided in advance on a USB drive
or CD-ROM.
Dr. Chris Hegarty

6 FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900
PUBLIC REMOTE COURSE: NOVEMBER 18-21, 2024 9:00-4:30 EDT (PRIVATE GROUP OPTION AVAILABLE)
Course 346: GPS/GNSS Operation for Engineers & Technical Professionals:
Principles, Technology, Applications and an Introduction to Basic DGPS (2.4 CEUs)
DAYS 1 AND 2 MAY BE TAKEN AS COURSE 122. SEE REGISTRATION FORM

DAY 1 DAY 2 DAY 3 DAY 4

Dr. Chris Hegarty
Fundamentals of GPS operation. Overview of GPS Principles and Technologies Differential GPS Overview GPS Signal Processing
how the system works. U.S. policy and current ● Local- and wide-area architectures ● In-phase and quadra-phase signal paths
status. Clocks and Timing ● Code vs. carrier-phase based systems ● Analog-to-digital (A/D) conversion
● Importance for GPS ● Data links; pseudolites ● Automatic gain control (AGC)
GPS System Description ● Timescales ● Performance overview ● Correlation channels
● Overview and terminology ● Clock types ● Acquisition strategies
● Principles of operation ● Stability measures Differential Concepts
● Augmentations ● Relativistic effects ● Differential error sources Code Tracking, Carrier Tracking & Data
● Trilateration ● Measurement processing Demodulation
● Performance overview Geodesy and Satellite Orbits ● Ambiguity resolution ● Delay locked loop (DLL) implementations;
● Modernization ● Coordinate frames and geodesy ● Error budgets performance
● Satellite orbits ● Frequency locked loops (FLLs)
GPS Policy and Context ● GPS constellation DGPS Standards and Systems ● Phase locked loops (PLLs)
● Condensed navigation system history ● Constellation maintenance ● RTCM SC104 message format ● Carrier-aiding of DLLs
● GPS policy and governance ● USCG maritime DGPS and National DGPS ● Data demodulation
● Modernization program Satellites and Control Segment (NDGPS)
● Ground segment ● GPS satellite blocks ● Commercial satellite-based systems Receiver Impairments and Enhancements
● Other satellite navigation systems ● Control segment components and ● Aviation systems: satellite-based and ● Impairments - bandlimiting, oscillators,
operation ground-based (SBAS/GBAS) multipath, interference
GPS Applications ● Monitor stations, MCS, and ground ● RINEX format, CORS and IGS networks ● Enhancements - carrier smoothing, narrow
● Land antennas ● Precise time transfer correlator, codeless/semicodeless track-
● Marine ● Upload operations ing, vector tracking, external aiding
● Aviation ● Ground control modernization
● Science
● Personal navigation
● Accuracy measures
● Error sources

Lunch
Legacy GPS Signals Error Sources and Models GPS Signal Structure and Message Content GPS Navigation Algorithms: Point
● Signal structure and characteristics ● Sources of error and correction ● Signal structure Solutions
● Modulations: BPSK, DSSS, BOC models ● Signal properties ● Pseudorange measurement models
● Signal generation ● GPS signals in space performance ● Navigation message ● Point solution method and example
● Navigation data ● Ionospheric and tropospheric effects
● Multipath GPS Receiver Overview Introduction to Kalman Filtering
Measurements and Positioning ● Error budget ● Functional overview ● Algorithm overview
● Pseudorange and carrier phase measurements ● Synchronization concepts ● Process and measurement models for
● Least squares solution Augmentations and Other ● Acquisition navigation
● Dilution of precision Constellations ● Code tracking ● Simulation examples
● Types of positioning solutions ● Augmentations: local-area, satellite- ● Carrier tracking
based, and regional ● Data demodulation Practical Aspects
GPS Receiver Basics ● Russia’s GLONASS ● Types of GPS and DGPS receivers
● Types of receivers ● Europe’s Galileo GPS Antennas ● Understanding specification sheets
● Functional overview ● China’s Compass (BeiDou) ● Antenna types ● Data links
● Antennas ● Antenna performance characteristics ● Antennas
Precise Positioning ● Prefilters ● Receiver and interface standards
● Precise positioning concepts ● Low-noise amplifiers (LNAs) ● Accessories
● Reference station networks ● Noise figure ● Supplemental notes: Tracing a GPS signal
● RINEX data format through a receiver

Course Description  Ability to use Adobe Acrobat sticky notes on electronic course notes.
Take this 4-day course to gain a comprehensive understanding of GPS/GNSS  NavtechGPS Glossary of GNSS Acronyms.
system concepts, design and operation, including information on GPS signal  A black and white hard copy of the course notes.
processing by the receiver; techniques by which GPS obtains position, velocity and  A textbook from the list below.
time; and a brief introduction to differential GPS (DGPS) and Kalman filtering. This
course is similar to Course 356 (5 days), but with less emphasis on DGPS and
Course Fee Entitles You to One of the Following Books
Understanding GPS: Principles and Applications, 3rd ed., Elliott Kaplan & Chris
Kalman filtering. (Note: The first two days are the same as Course 122. Course
Hegarty, Eds., Artech House, 2017, OR
346 expands on the concepts introduced in 122.)
• Global Positioning System: Signals, Measurement and Performance, P. Misra
Objectives and P. Enge, 2nd ed., 2011, OR
This course is designed to give you • Engineering Satellite-Based Navigation & Timing: GNSS, Signals and Receivers,
 A comprehensive introduction to GPS, system concepts, an introduction to John Betz, Ph.D.
DGPS, design, operation, implementation and applications. • GPS Basics for Technical Professionls, P. Misra, 2019.
 Detailed information on the GPS signal, its processing by the receiver, and the • Introduction to GPS: the Global Positioning System, 2nd Ed., A. El-Rabbany,
techniques by which GPS obtains position, velocity and time. 2006.
 Current information on the status, plans, schedule and capabilities of GPS,
as well as of other satellite-based systems with position velocity and time
What Attendees Have Said
determination applications. “The teaching style was excellent! Well presented from an
 Information to fill the technical gaps for those working in the GPS/GNSS fields. engineering perspective, also high enough level for a non-engineer
who is math knowledgable. Really liked how Chris introduced live
Who Should Attend? scenarios and how theory is applied to actual equipment.”
Excellent for engineering staff who need to be rapidly brought up to speed on — Eric Velez, United States Navy (March, 2022)
GNSS, and for those already working in GPS who need exposure to the system as
a whole in order to work more effectively.

Prerequisites Instructor
Familiarity with engineering terms and analysis techniques. General familiarity with
matrix operations and familiarity with signal processing techniques is desirable.

Materials You Will Keep

 A color electronic copy of all course notes provided in advance on a USB drive
or CD-ROM.
Dr. Chris Hegarty

FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900 7
 PUBLIC REMOTE COURSE: MAY 13-17, 2024, 9:00-4:30 EST (PRIVATE GROUP OPTION AVAILABLE)
Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (3.0 CEUs)

DAY 1 DAY 2 DAY 3 DAY 4 DAY 5

Dr. Alan Pue, Johns Hopkins, Navigation & Defense Consultant Mr. Michael Vaujin, Aerospace, Navigation & Defense Consultant

Introduction to INS/GPS Inertial Navigation INS Aiding of Receiver Tracking Aided Psi-Angle Navigator Square Root Filtering
integration Mechanization ● Code and carrier tracking ● Description and demonstration of an ● Square root covariance filtering and
● Inertial navigation ● Gravity model ● Track loop design trades aided Psi-angle wander azimuth naviga- smoothing
● Integration architectures ● Navigation equations ● Interference suppression tor flying an aircraft type trajectory ● Information filter derivation
● Example applications ● Implementation options ● Deep integration ● Square root information filters
● Aided Phi-Angle Navigator ● UD factorization & filtering
Vectors, Matrices, and State Inertial Sensor Tightly-Coupled INS/GPS Design ● Description and demonstration of an
Space Technologies ● Measurement processing aided Phi-angle north-slaved navigator Suboptimal Covariance Analysis
● Vectors and matrices ● Accelerometer ● Filter parameter selection flying and aircraft type trajectory ● Effects of mis-modeling errors
● State-space description technologies ● Pseudo-range and delta pseudo- ● Modeling position error as latitude/ ● Optimal and sub-optimal (two pass)
● Examples ● Optical gyros range measurement models longitude error covariance analysis
● MEMS technologies ● Modeling position error as navigation ● Error budget and reduced state analysis
Random Processes ● Technology survey Multi-Sensor Integration frame tilt error
● Random variables ● Terrain aiding and relative GPS ● Comparison of popular state dynamics Unscented Kalman Filters
● Covariance matrices Strapdown Systems ● Carrier phase differential integration matrix elements ● Sigma points and the Unscented
● Random process ● Quaternions ● GPS interferometer/INS integration Transform
descriptions ● Orientation vector Partials of Measurement Equations ● Performance against the EKF
● Coning and sculling ● Techniques and tricks for taking partials, ● Augmentation and application to
compensation examples navigation
● Psi-angle and Phi-angle feedback to ● Spherical Simplex Sigma Points
strapdown ● Square Root UKFs
● Pros and cons of the 3 different navigator
types

Lunch
Kalman Filter Navigation System Mr. Michael Vaujin, Aerospace, Initialization & Process Noise Ground Alignment & Integrated Velocity
● Filtering principles Errors Navigation & Defense Consultant ● Strapdown and covariance matrix ● Gyro-Compassing, zero velocity and zero
● Least squares estimation ● Tilt angle definitions initialization earth rate observations
● Kalman filter derivation ● Navigation error Building Extended Kalman Filter ● Process noise for gravity and random ● Large azimuth static alignment, advanced
dynamics ● Linearized & Extended Kalman Filters walk methods
Filter Implementation ● Simplified error ● Radar tracking of vertical body motion ● Common sensor error models: random ● Small azimuth static alignment & leveling
● Filter processing example characteristics with non-linear dynamics constant, random walk and Gauss ● Ground alignment observability examples
● Off-line analysis ● Radar tracking of an accelerating Markov ● Integrated true velocity error, mapping into
● Filter tuning System Initialization body with non-linear measurements delta-range
● INS static alignment Measurement Editing & Adaptive Filters
Navigation Coordinate ● Transfer alignment Numerical Preliminaries & ● Online and offline residual analysis Attitude Matching & Use of Inexpensive
Systems ● Simplified error Considerations ● Advanced methods of outlier detection IMUs
● Earth model analysis ● Keeping a covariance matrix well- and rejection ● Attitude matching & boresight error states
● Navigation coordinates conditioned, symmetric, & positive ● Multiple Model Adaptive Estimation ● Considerations for use of very inexpensive
● Earth relative kinematics Loosely-Coupled INS/ definite ● Application to carrier phase integer IMUs
GPS Design ● Sequential vs batch measurement ambiguity resolution ● Non-holonomic motion constraints
● Measurement processing ● Magnetometer aiding
processing ● Methods of measurement Methods of Smoothing ● In class measurement equation exercise
● Filter design and tuning de-correlation ● Optimal prediction and fixed interval ● Matrix partitioning for computational
● Navigation system smoothing efficiency
update Discreet Time Strapdown ● Fixed point and fixed lag smoothing
Implementation ● Applications to navigation testing Particle Filtering
● Attitude updates and TOV of the ● Bootstrap particle filter (PF)
acceleration ● Multi-modal position solutions
● Propagating the position DCM ● Particle filter example
● High rate vs low rate routines ● Applications to navigation
● Effects of errors in initialization &
IMU data

Course Objectives Materials You Will Keep

This course on GNSS-aided navigation will immerse the student in the fundamental  A color electronic copy of all course notes provided in advance on a USB drive or
concepts and practical implementations of the various types of Kalman filters CD-ROM.
that optimally fuse GPS receiver measurements with a strapdown inertial  Ability to use Adobe Acrobat sticky notes on electronic course notes.
navigation solution. The course includes the fundamentals of inertial navigation,  NavtechGPS Glossary of GNSS Acronyms.
inertial instrument technologies, technology surveys and trends, integration  A black and white hard copy of the course notes.
architectures, practical Kalman filter design techniques, case studies, and illustrative  Textbook: Introduction to Random Signals and Applied Kalman Filtering, 3rd
demonstrations using MATLAB®. The full five days allow for a fuller, detailed edition, by R. Grover Brown and Patrick Hwang, John Wiley & Sons, Inc., 1996. )
development of the design of an aided navigation system, including a detailed
What Attendees Have Said
discussion of the use of lower quality IMUs, and advanced filtering techniques. “I really enjoyed the teaching style. I learn better with examples and
Who Should Attend? implementation so I thought the material was very well laid out. I had a few gaps in
 GPS/GNSS engineers, scientists, systems analysts, program specialists and my knowledge and going through these implementations really helped it.”
others concerned with the integration of inertial sensors and systems. —Johnny Wang, Amazon
 Those needing a working knowledge of Kalman filtering, or those who work in the
fields of either navigation or target tracking. “Both instructors were very knowledgeable and had great presence. The excitement
on the topics of each instructor was very evident and made it easier for me to stay
Prerequisites engaged.” — Cameron Little, US Navy
 Familiarity with principles of engineering analysis, including matrix algebra and
linear systems.
 A basic understanding of probability, random variables, and stochastic processes. Instructors
 An understanding of GPS operational principles in Course 346, or equivalent
experience.

Equipment Recommendation
 Recommended, but not required: A computer (PC or Mac) with full version of
MATLAB 5.0 (or later) installed. This will allow you to work the problems in class Dr. Alan Pue, Mr. Michael Vaujin,
and do the practice “homework” problems. However, ALL of the problems will also JHU/APL (Retired) Consultant
be worked in class by the instructor.
 These course notes are searchable and you can take electronic notes with the
Adobe Acrobat Reader we will provide you.

8 FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900
 PUBLIC REMOTE COURSE: DECEMBER 9-13, 2024, 9:00-4:30 EDT (PRIVATE GROUP OPTION AVAILABLE)
Course 557: Inertial Systems, Kalman Filtering and GPS/INS Integration (3.0 CEUs)

DAY 1 DAY 2 DAY 3 DAY 4 DAY 5

Dr. Alan Pue, Johns Hopkins, Navigation & Defense Consultant Mr. Michael Vaujin, Aerospace, Navigation & Defense Consultant

Introduction to INS/GPS Inertial Navigation INS Aiding of Receiver Tracking Aided Psi-Angle Navigator Square Root Filtering
integration Mechanization ● Code and carrier tracking ● Description and demonstration of an ● Square root covariance filtering and
● Inertial navigation ● Gravity model ● Track loop design trades aided Psi-angle wander azimuth naviga- smoothing
● Integration architectures ● Navigation equations ● Interference suppression tor flying an aircraft type trajectory ● Information filter derivation
● Example applications ● Implementation options ● Deep integration ● Square root information filters
● Aided Phi-Angle Navigator ● UD factorization & filtering
Vectors, Matrices, and State Inertial Sensor Tightly-Coupled INS/GPS Design ● Description and demonstration of an
Space Technologies ● Measurement processing aided Phi-angle north-slaved navigator Suboptimal Covariance Analysis
● Vectors and matrices ● Accelerometer ● Filter parameter selection flying and aircraft type trajectory ● Effects of mis-modeling errors
● State-space description technologies ● Pseudo-range and delta pseudo- ● Modeling position error as latitude/ ● Optimal and sub-optimal (two pass)
● Examples ● Optical gyros range measurement models longitude error covariance analysis
● MEMS technologies ● Modeling position error as navigation ● Error budget and reduced state analysis
Random Processes ● Technology survey Multi-Sensor Integration frame tilt error
● Random variables ● Terrain aiding and relative GPS ● Comparison of popular state dynamics Unscented Kalman Filters
● Covariance matrices Strapdown Systems ● Carrier phase differential integration matrix elements ● Sigma points and the Unscented
● Random process ● Quaternions ● GPS interferometer/INS integration Transform
descriptions ● Orientation vector Partials of Measurement Equations ● Performance against the EKF
● Coning and sculling ● Techniques and tricks for taking partials, ● Augmentation and application to
compensation examples navigation
● Psi-angle and Phi-angle feedback to ● Spherical Simplex Sigma Points
strapdown ● Square Root UKFs
● Pros and cons of the 3 different navigator
types

Lunch
Kalman Filter Navigation System Mr. Michael Vaujin, Aerospace, Initialization & Process Noise Ground Alignment & Integrated Velocity
● Filtering principles Errors Navigation & Defense Consultant ● Strapdown and covariance matrix ● Gyro-Compassing, zero velocity and zero
● Least squares estimation ● Tilt angle definitions initialization earth rate observations
● Kalman filter derivation ● Navigation error Building Extended Kalman Filter ● Process noise for gravity and random ● Large azimuth static alignment, advanced
dynamics ● Linearized & Extended Kalman Filters walk methods
Filter Implementation ● Simplified error ● Radar tracking of vertical body motion ● Common sensor error models: random ● Small azimuth static alignment & leveling
● Filter processing example characteristics with non-linear dynamics constant, random walk and Gauss ● Ground alignment observability examples
● Off-line analysis ● Radar tracking of an accelerating Markov ● Integrated true velocity error, mapping into
● Filter tuning System Initialization body with non-linear measurements delta-range
● INS static alignment Measurement Editing & Adaptive Filters
Navigation Coordinate ● Transfer alignment Numerical Preliminaries & ● Online and offline residual analysis Attitude Matching & Use of Inexpensive
Systems ● Simplified error Considerations ● Advanced methods of outlier detection IMUs
● Earth model analysis ● Keeping a covariance matrix well- and rejection ● Attitude matching & boresight error states
● Navigation coordinates conditioned, symmetric, & positive ● Multiple Model Adaptive Estimation ● Considerations for use of very inexpensive
● Earth relative kinematics Loosely-Coupled INS/ definite ● Application to carrier phase integer IMUs
GPS Design ● Sequential vs batch measurement ambiguity resolution ● Non-holonomic motion constraints
● Measurement processing ● Magnetometer aiding
processing ● Methods of measurement Methods of Smoothing ● In class measurement equation exercise
● Filter design and tuning de-correlation ● Optimal prediction and fixed interval ● Matrix partitioning for computational
● Navigation system smoothing efficiency
update Discreet Time Strapdown ● Fixed point and fixed lag smoothing
Implementation ● Applications to navigation testing Particle Filtering
● Attitude updates and TOV of the ● Bootstrap particle filter (PF)
acceleration ● Multi-modal position solutions
● Propagating the position DCM ● Particle filter example
● High rate vs low rate routines ● Applications to navigation
● Effects of errors in initialization &
IMU data

Course Objectives Materials You Will Keep

This course on GNSS-aided navigation will immerse the student in the fundamental  A color electronic copy of all course notes provided in advance on a USB drive or
concepts and practical implementations of the various types of Kalman filters CD-ROM.
that optimally fuse GPS receiver measurements with a strapdown inertial  Ability to use Adobe Acrobat sticky notes on electronic course notes.
navigation solution. The course includes the fundamentals of inertial navigation,  NavtechGPS Glossary of GNSS Acronyms.
inertial instrument technologies, technology surveys and trends, integration  A black and white hard copy of the course notes.
architectures, practical Kalman filter design techniques, case studies, and illustrative  Textbook: Introduction to Random Signals and Applied Kalman Filtering, 3rd
demonstrations using MATLAB®. The full five days allow for a fuller, detailed edition, by R. Grover Brown and Patrick Hwang, John Wiley & Sons, Inc., 1996. )
development of the design of an aided navigation system, including a detailed
What Attendees Have Said
discussion of the use of lower quality IMUs, and advanced filtering techniques. “I really enjoyed the teaching style. I learn better with examples and
Who Should Attend? implementation so I thought the material was very well laid out. I had a few gaps in
 GPS/GNSS engineers, scientists, systems analysts, program specialists and my knowledge and going through these implementations really helped it.”
others concerned with the integration of inertial sensors and systems. —Johnny Wang, Amazon
 Those needing a working knowledge of Kalman filtering, or those who work in the
fields of either navigation or target tracking. “Both instructors were very knowledgeable and had great presence. The excitement
on the topics of each instructor was very evident and made it easier for me to stay
Prerequisites engaged.” — Cameron Little, US Navy
 Familiarity with principles of engineering analysis, including matrix algebra and
linear systems.
 A basic understanding of probability, random variables, and stochastic processes. Instructors
 An understanding of GPS operational principles in Course 346, or equivalent
experience.

Equipment Recommendation
 Recommended, but not required: A computer (PC or Mac) with full version of
MATLAB 5.0 (or later) installed. This will allow you to work the problems in class Dr. Alan Pue, Mr. Michael Vaujin,
and do the practice “homework” problems. However, ALL of the problems will also JHU/APL (Retired) Consultant
be worked in class by the instructor.
 These course notes are searchable and you can take electronic notes with the
Adobe Acrobat Reader we will provide you.

FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900 9
 PRIVATE GROUP COURSE

Course 336: GPS/GNSS Fundamentals and Enhancements

with Emphasis on DGPS (1.8 CEUs)
Day 1 Day 2 Day 3
Dr. Chris Hegarty FOR THOSE WHO
Fundamentals of GPS operation. GPS Principles and Technologies Differential GPS Overview
NEED GPS/GNSS
Overview of how the system works.
U.S. policy and current status. Clocks and Timing
● Local-area, regional-area, wide-area
architectures
BASICS AND A
GPS System Description
● Importance for GPS
● Timescales
● Code vs. carrier-phase based systems
● Pseudolites
FULL DAY OF
● Overview and terminology
● Principles of operation
● Clock types
● Stability measures
● Performance overview
DIFFERENTIAL GNSS
● Augmentations ● Relativistic effects Differential Error Sources
● Trilateration ● Satellite ephemeris errors Instructor
● Performance overview Geodesy and Satellite Orbits ● Satellite clock errors
● Modernization ● Coordinate frames and geodesy ● Selective availability
● Satellite orbits ● Ionospheric, tropospheric delay
GPS Policy and Context ● GPS constellation ● Multipath
● Condensed navigation system history ● Constellation maintenance ● Receiver internal noise, biases
● GPS policy and governance
● Modernization program Satellites and Control Segment Observable Modeling
● Ground segment ● GPS satellite blocks ● Code pseudorange and carrier-phase outputs Dr. Chris Hegarty
● Other satellite navigation systems ● Control segment components and operation ● Code-minus-carrier observables
● Monitor stations, MCS, and ground antennas ● Carrier-smoothed code operation
GPS Applications ● Upload operations ● Double difference operation
● Land ● Ground control modernization ● System error budgets
● Marine
● Aviation
● Science
● Personal navigation
● Accuracy measures
● Error sources

LUNCH IS ON YOUR OWN

Legacy GPS Signals Error Sources and Models Differential GPS Design Considerations
● Signal structure and characteristics ● Sources of error and correction models ● Range vs. navigation domain corrections
● Modulations: BPSK, DSSS, BOC ● GPS signals in space performance ● Data links
● Signal generation ● Ionospheric and tropospheric effects ● Pseudolites
● Navigation data ● Multipath ● Reducing major error components
● Error budget ● Ambiguity resolution
Measurements and Positioning
● Pseudorange and carrier phase Augmentations and Other Constellations DGPS Case Studies I
measurements ● Augmentations: local-area, satellite-based, ● RTCM SC104 message format
● Least squares solution and regional ● USCG maritime DGPS and National DGPS
● Dilution of precision ● Russia’s GLONASS (NDGPS)
● Types of positioning solutions ● Europe’s Galileo ● Commercial satellite-based systems
● China’s Compass (BeiDou)
GPS Receiver Basics DGPS Case Studies II
● Types of receivers Precise Positioning ● Wide Area Augmentation System (WAAS)
● Functional overview ● Precise positioning concepts ● Local Area Augmentation System (LAAS)
● Antennas ● Reference station networks ● RINEX format
● RINEX data format ● CORS&IGS network for precise positioning
(survey)
● Precise time transfer

Description/Objectives What Attendees Have Said

This 3-day public or on-site course offers a comprehensive introduction to GPS/ "Especially useful were the aspects related to how the user receivers make use of
GNSS technology, system concepts, design, operation, implementation and the GNSS signals and all the steps involved in the process, from receiving the raw
applications, and a full day of differential GPS. Detailed information on the GPS RF signal to the computation of the user position."
signal, its processing by the receiver, and the techniques by which GPS obtains — Marc Garcia Mateos, Course 336, ESA/ESTEC
position, velocity and time will be covered. (Note: the first two days are the same
as Course 122. Day 3 is dedicated to differential GPS.) “Dr. Hegarty is extremely knowledgeable and well versed in the material. Well
prepared and well designed course and course material! Course material was well
Prerequisites organized with accompanying slides — Nice notebook!”
Familiarity with engineering terms is very helpful but not essential. Non-engineers — David Wright, Course 346
will benefit from the conceptual explanations.. (Course 336 is a subset of Courses 346 and 356)
Who Should Attend?
 Engineers and technical professionals seeking conceptual and detailed “There are many bright scientists and engineers, but very few are bright and gifted in
explanations of GNSS technology, operation, capabilities, applications, and teaching. Even fewer could explain each part of a very complex equation in simple
development trends layman’s term. Dr. Hegarty got my full attention.”
 Professionals in navigation, positioning, and related fields who are concerned — Sigong Ho, NovAtel; Course 346,
with the capabilities, operation and principles of GPS, DGPS, and related (Course 336 is a subset of Courses 346 and 356)
GNSS systems.
 System analysts and specialists concerned with position data and its use. “The instructor’s [Dr. Hegarty] knowledge of the subject is very impressive. He gave
 Managers concerned with GPS, GNSS activities, or the positioning field. a lot of interesting information on top of what was posted on the slides. I would
consider this extra information very helpful. I now have quite an in-depth knowledge
Materials You Will Keep of how GPS works. I can definitely relate the working concepts to the technology I
 A color electronic copy of all course notes provided in advance on a USB drive handle at work and to make better decisions.”
or CD-ROM. — Jerry Rodriquez Melo, Patuxent, Maryland
 Ability to use Adobe Acrobat sticky notes on electronic course notes.
 NavtechGPS Glossary of GNSS Acronyms.
 A black and white hard copy of the course notes.
 GPS Basics for Technical Professionals, P. Misra, 2019.

10 FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900
PRIVATE GROUP COURSE

Couses 356: GPS/GNSS and DGPS Operation for Engineers & Technical Professionals:
Principles, Technology, Applications and DGPS Concepts (3.0 CEUs)
(Similar to Course 346, but with three additional hours of Differential GPS and two additional hours of Kalman filtering.)
DAY 1 DAY 2 DAY 3 DAY 4 DAY 5
Dr. Chris Hegaty, MITRE
Fundamentals of GPS operation. GPS Principles and Technologies Differential GPS Overview GPS Signal Structure and Case Study: Tracing a GPS
Overview of how the system works. ● Local-area, regional-area, Message Content Signal Through a Receiver
U.S. policy and current status. Clocks and Timing wide-area architectures ● Signal structures ● Received signal
● Importance for GPS ● Code vs. carrier-phase ● Signal properties ● Digitized signal
GPS System Description ● Timescales based systems ● Navigation message ● Correlator outputs
● Overview and terminology ● Clock types ● Pseudolites ● Code-phase estimate
● Principles of operation ● Stability measures ● Performance overview GPS Receiver Overview ● Carrier-phase estimate
● Augmentations ● Relativistic effects ● Functional overview ● Data demodulation
● Trilateration Differential Error Sources ● Synchronization concepts
● Performance overview Geodesy and Satellite Orbits ● Satellite ephemeris errors ● Acquisition GPS Navigation Algorithms:
● Modernization ● Coordinate frames and geodesy ● Satellite clock errors ● Code tracking Point Solutions
● Satellite orbits ● Selective availability ● Carrier tracking ● Pseudorange measurement
GPS Policy and Context ● GPS constellation ● Ionospheric, tropospheric ● Data demodulation models
● Condensed navigation system ● Constellation maintenance delay ● Point solution method
history ● Multipath GPS Antennas and example
● GPS policy and governance Satellites and Control Segment ● Receiver internal noise, ● Antenna types
● Modernization program ● GPS satellite blocks biases ● Antenna performance Basics of Kalman Filtering
● Ground segment ● Control segment components and characteristics ● Introduction to Kalman filtering
● Other satellite navigation systems operation Observable Modeling ● Prefilters ● Filter structure
● Monitor stations, MCS, and ground ● Code pseudorange and ● Low-noise amplifiers (LNAs) ● Simulation results
GPS Applications antennas carrier-phase outputs ● Noise figure
● Land ● Upload operations ● Code-minus-carrier
● Marine ● Ground control modernization observables
● Aviation ● Carrier-smoothed code
● Science operation
● Personal navigation ● Double difference operation
● Accuracy measures ● System error budgets
● Error sources

Lunch is On Your Own

Legacy GPS Signals Error Sources and Models Differential GPS Design GPS Signal Processing Kalman Filtering for GPS
● Signal structure and characteristics ● Sources of error and correction Considerations ● In-phase and quadra-phase Navigation
● Modulations: BPSK, DSSS, BOC models ● Range vs. navigation domain signal paths ● Clock models and dynamic
● Signal generation ● GPS signals in space performance corrections ● Analog-to-digital (A/D) models
● Navigation data ● Ionospheric and tropospheric effects ● Data links conversion ● Integration with INS
● Multipath ● Pseudolites ● Automatic gain control (AGC) ● Measurement and dynamic
Measurements and Positioning ● Error budget ● Reducing major error ● Correlation channels mismodeling
● Pseudorange and carrier phase components ● Acquisition strategies
measurements Augmentations and Other ● Ambiguity resolution Practical Aspects I
● Least squares solution Constellations Code Tracking, Carrier Tracking ● Types of GPS and DGPS
● Dilution of precision ● Augmentations: local-area, satellite- DGPS Case Studies I & Data Demodulation receivers
● Types of positioning solutions based, and regional ● RTCM SC104 message ● Delay locked loop (DLL) imple- ● Understanding specification
● Russia’s GLONASS format mentations; performance sheets
GPS Receiver Basics ● Europe’s Galileo ● USCG maritime DGPS and ● Frequency locked loops (FLLs) ● Data links
● Types of receivers ● China’s Compass (BeiDou) National DGPS (NDGPS) ● Phase locked loops (PLLs) ● Antennas
● Functional overview ● Commercial satellite-based ● Carrier-aiding of DLLs
● Antennas Precise Positioning systems ● Data demodulation Practical Aspects II
● Precise positioning concepts ● Receiver and interface standards
● Reference station networks DGPS Case Studies II Receiver Impairments and ● Connectors
● RINEX data format ● Wide Area Augmentation Enhancements ● Accessories
System (WAAS) ● Impairments - bandlimiting, os- ● Test, evaluation, and signal
● Local Area Augmentation cillators, multipath, interference performance
System (LAAS) ● Enhancements - carrier smooth-
● RINEX format ing, narrow correlator, codeless/
● CORS&IGS network for semicodeless tracking, vector
precise positioning (survey) tracking, external aiding
● Precise time transfer

Course Objectives  Ability to use Adobe Acrobat sticky notes on electronic course notes.
 To give you a comprehensive introduction to GPS and DGPS technology,  NavtechGPS Glossary of GNSS Acronyms.
system concepts, design, operation, implementation and applications, including  A black and white hard copy of the course notes.
critical information on DGPS and Kalman filtering concepts.  A textbook from the list below.
 To provide detailed information on the GPS signal, its processing by the receiver,
and the techniques by which GPS obtains position, velocity and time.
Course Fee Entitles You to One of the Following Books
 Understanding GPS: Principles and Applications, 2nd ed., Elliott Kaplan & Chris
 To present current information on the status, plans, schedule and capabilities of
Hegarty, Eds., Artech House, 2006, OR
GPS, as well as of other satellite-based systems with position velocity and time
 Global Positioning System: Signals, Measurement and Performance, P. Misra
determination applications.
and P. Enge, 2nd ed., 2011.
 To fill technical information gaps for those working in the GPS and GNSS fields.
 GPS Basics for Technical Professionls, P. Misra, 2019.
 Note: This course encompasses Courses 122, 336 and 356B. If you have
 Introduction to GPS: the Global Positioning System, 2nd Ed., A. El-Rabbany,
selected this course, do not separately select any of these course numbers.
2006. .
Who Should Attend?
Excellent for engineering staff who need to be rapidly brought up to speed on GPS,
What Attendees Have Said
[My objective was to] gain a better understanding of GPS operating principles with
and for those already working in GPS who need exposure to the system as a whole
a focus on error sources and differential GPS. I thought [Dr. Hegarty’s] teaching
in order to work more effectively.
style was excellent. He specifically tailored his approach to the small classroom
Prerequisites environment with significant student interaction: True Instructor:
Familiarity with engineering terms and analysis techniques. General familiarity with teaching versus lecturing. [I would recommend this
matrix operations is desirable for Thursday and Friday, and familiarity with signal course to] system engineers requiring more than a
processing techniques is desirable for Wednesday through Friday. (The materials for black box knowledge of GPS.
days 3, 4 and 5 of Course 356 are more in-depth than what is taught in Course 346.) — Name withheld upon request
Dr. Chris
Materials You Will Keep Hegarty
 A color electronic copy of all course notes provided in advance on a USB drive
or CD-ROM.

FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900 11
 PRIVATE GROUP COURSE

Course 356B: GPS/GNSS Operation, DGPS, GPS Signals & Processing (1.8 CEUs)
Day 1 Day 2 DAy 3 FOR GROUPS WHO
Dr. Chris Hegarty, MITRE ALREADY KNOW
Differential GPS Overview GPS Signal Structure and Message Content Case Study: Tracing a GPS Signal Through a GPS/GNSS BASICS,
● Local-area, regional-area, wide-area ● Signal structures Receiver
architectures ● Signal properties ● Received signal BUT NEED TO LEARN
● Code vs. carrier-phase based systems ● Navigation message ● Digitized signal
● Pseudolites ● Correlator outputs DIFFERENTIAL
● Performance overview GPS Receiver Overview ● Code-phase estimate
● Functional overview ● Carrier-phase estimate GPS AND KALMAN
Differential Error Sources ● Synchronization concepts ● Data demodulation
● Satellite ephemeris errors ● Acquisition FILTERING BASICS
● Satellite clock errors ● Code tracking GPS Navigation Algorithms: Point Solutions
● Selective availability ● Carrier tracking ● Pseudorange measurement models
● Ionospheric, tropospheric delay ● Data demodulation ● Point solution method Instructor
● Multipath and example
● Receiver internal noise, biases GPS Antennas
● Antenna types Basics of Kalman Filtering
Observable Modeling ● Antenna performance characteristics ● Introduction to Kalman filtering
● Code pseudorange and carrier-phase ● Prefilters ● Filter structure
outputs ● Low-noise amplifiers (LNAs) ● Simulation results
● Code-minus-carrier observables ● Noise figure
● Carrier-smoothed code operation Dr. Chris Hegarty
● Double difference operation
● System error budgets

Lunch is on your own

Differential GPS Design Considerations GPS Signal Processing Kalman Filtering for GPS Navigation
● Range vs. navigation domain corrections ● In-phase and quadra-phase signal paths ● Clock models and dynamic models
● Data links ● Analog-to-digital (A/D) conversion ● Integration with INS
● Pseudolites ● Automatic gain control (AGC) ● Measurement and dynamic mismodeling
● Reducing major error components ● Correlation channels
● Ambiguity resolution ● Acquisition strategies Practical Aspects I
● Types of GPS and DGPS receivers
DGPS Case Studies I Code Tracking, Carrier Tracking & Data ● Understanding specification sheets
● RTCM SC104 message format Demodulation ● Data links
● USCG maritime DGPS and National ● Delay locked loop (DLL) implementations; ● Antennas
DGPS (NDGPS) performance
● Commercial satellite-based systems ● Frequency locked loops (FLLs) Practical Aspects II
● Phase locked loops (PLLs) ● Receiver and interface standards
DGPS Case Studies II ● Carrier-aiding of DLLs ● Connectors
● Wide Area Augmentation System (WAAS) ● Data demodulation ● Accessories
● Local Area Augmentation System (LAAS) ● Test, evaluation, and signal performance
● RINEX format Receiver Impairments and Enhancements
● CORS&IGS network for precise position- ● Impairments - bandlimiting, oscillators,
ing (survey) multipath, interference
● Precise time transfer ● Enhancements - carrier smoothing, narrow
correlator, codeless/semicodeless tracking,
vector tracking, external aiding

Description Course Fee Entitles You to One of the Following Books

This 3-day course begins with a discussion of differential GPS, which continues  Introduction to GPS: The Global Positioning System, 2nd ed., Ahmed
through the rest of the week together with an in-depth look at GPS signal El-Rabbany, Artech House, 2006, OR
processing, navigation message content, code tracking, receivers and concludes  Global Positioning System: Signals, Measurement and Performance, P. Misra
with a discussion on the basics of Kalman filtering. (Note: This course is the same as and P. Enge, 2nd ed., 2011, OR
the last 3 days of Course 356. )  GPS Basics for Technical Professionals, P. Misra, 2019, OR
 Understanding GPS: Principles and Applications, 3rd Edition, E. Kaplan and C.
Objectives Hegarty, 2017
 To give a comprehensive introduction to GPS and DGPS technology, system
concepts, design, operation, implementation and applications. What Attendees Have Said
 To provide detailed information on the GPS signal, its processing by the "Dr. Hegarty is very knowledgeable and he is a great communicator. He explained
receiver, and the techniques by which GPS obtains position, velocity and time. conceptual and theoretical topics clearly. He was very accessible in answering
 To present current information on the status, plans, schedule and capabilities of questions. He did an excellent job engaging the students in the learning
GPS, as well as of other satellite-based systems with position velocity and time experience."
determination applications. _ Carol Chen, San Diego, California
 To fill in technical information gaps for those working in the GPS and GNSS
fields. "I thought [Dr. Hegarty] had a great teaching style, was funny and had just the right
amount of slides. [Dr. Hegarty] was very good at explaining very technical things
Prerequisites in a way that made sense to someone with very little signals / communications
Knowledge of GPS fundamentals, as presented in Course 122 is assumed. background."
_ A. Muscat, Annapolis, Maryland
Who Should Attend?
Excellent for those engineers and technical professionals who know the basics
of GPS but need more detail on DGPS, signals, receivers, antennas, navigation
algorithms, Kalman filtering and practical aspects of GPS.

Materials You Will Keep

 A color electronic copy of all course notes provided in advance on a USB drive or
CD-ROM.
 Ability to use Adobe Acrobat sticky notes on electronic course notes.
 NavtechGPS Glossary of GNSS Acronyms.
 A black and white hard copy of the course notes.
 A textbook from the list below.

12 FOR MORE: Contact Trevor Boynton, [email protected] or Carolyn McDonald, [email protected]. (703) 256-8900
 REGISTER TODAY! (Tentative Registrations Accepted)
GNSS Courses for Engineers and Technical Professionals
April 29-May 2, 2024 9:00-4:30 EST  Taught Remotely
“The teaching style was excellent! Well presented from an engineering perspective, also high enough level for a non-engineer who is math knowledgable. Really liked
how Chris introduced live scenarios and how theory is applied to actual equipment.” — Eric Velez, United States Navy

ATTN: Download and save form BEFORE completing. Email to: [email protected]; Fax : +1-703-256-8988. Questions: +1-703-256-8900

Choose
Select Your Course Media Individual Attendee Fees

CD-ROM
COURSE
SELECT

USB
Course Name Dates
Public CEUs US Govt*
 346: GPS/GNSS Operation for Engineers and Technical April 29-May 2
  $2899 2.4 $2699**
Professionals. (4 days)† (Select Book Choice Below) 9 AM to 4:30 PM EDT

 122: GPS Fundamentals and Enhancements (Days 1 and 2 of Course

April 29-30
346) (2 days)† (Book: GPS Basics for Technical Professionals, Pratap   $1899 1.2 $1749**
9 AM to 4:30 PM EDT
Misra, Ph.D.)
Course notes are provided on CD-ROM or USB drive (as well as on paper in black and white). PLEASE SELECT MEDIA
For group discounts, contact Trevor Boynton at +1-571-226-0649, or [email protected]
**Courtesy U.S. federal government/U.S. military discount. †NavtechGPS is a Florida approved provider for Courses 122 and 346. Reset Selections

 Are you a student? Check year for a 25% discount! 2024 2025  2026+ (Discount will be reflected on the invoice we send you.)

Course 346 Attendees: CHOOSE ONE

 Understanding GPS: Principles and Applications, 3rd ed., Elliott Kaplan & Chris Hegarty, Eds., Artech House, 2017.
Note: This book is print to order and may arrive after the start of the course.

 Global Positioning System: Signals, Measurement and Performance, P. Misra and P. Enge, 2nd ed., 2011

 Engineering Satellite-Based Navigation & Timing: GNSS, Signals and Receivers, John Betz, Ph.D., 2015

 Introduction to GPS: the Global Positioning System, 2nd Ed., A. El-Rabbany, 2006

Check out our other GNSS titles at https://www.navtechgps.com/departments/books/all-books/

We can accept registrations the day before the course starts, but cannot guarantee timely arrival of materials unless payment and registration is received three weeks before the course starts.
Billing Office
Contact (If Any): * _______ _____________________________________ ___________ * ________________________________________________________
Title/Pronouns First Name Middle Initial Last (Family Name)
Billing Office
Email (If Any): * ________________________________________________ Cell Phone: * ___________________________ Fax: : * _________________________________

Attendee
Name: *_________ * _____________________________________ ________________ * _______________________________________________________
Title/Pronouns First Name Middle Initial Last (Family Name)
Attendee
Organization:* ___________________________________________________ Internal Mail Stop:* ____________________ Fax:* _____________________________

Attendee Address:* ________________________________________________________________________ City: * ___________________________________________

Attendee State/Province:* _________________________________________ Zip/Postal Code: * ________________________________ Country: : * _______________

Attendee Email: *_____________________________________________ Attendee Cell Phone: * ___________________ Office Phone:* ___________________________
*Required Information
Check here  if you require a formal invoice.
Payment method:
 Credit card (We will send you a credit card link for payment after the the minimum course attendance is confirmed. A 2.75% processing fee will be added.)

 Wire Transfer (Please send me wire transfer instructions. Note: NavtechGPS does NOT charge a processing fee for wire transfers.)
 A purchase order or training form will be sent to the attention of Trevor Boynton at the address below.
 Check to be made payable to NavtechGPS and mailed to the address below.

Questions? Call or email Trevor Boynton, [email protected]

NavtechGPS  5500 Cherokee Avenue  Suite 440  Alexandria, VA 22312-2321 USA  +1-703-256-8900
COURSE CODE: 2401
 REGISTER TODAY! (Tentative Registrations Accepted)
557: Inertial Systems, Kalman Filtering, and GPS/INS Integration
May 13-17, 2024 9:00-4:30 EST  Taught Remotely
“It is easy to tell that this course is taught by passionate instructors, and that comes through both in their mastery of the subject
subject material, and enthusiasm in presenting the subject matter in a
concise and easy-to-follow manner
manner. Despite the difficulty of the material, this course is one of the
he most well-taught courses I’ve had the pleasure of taking. I urge both of the instructors to keep
teaching, as an instructor’
instructor’s passion is instrumental in a student’
student’ss absorption of material. Needless to say,
say, they both have passion in spades.” — Aaron Bruinsma, L3 Harris Wescam

ATTN: Download and save form BEFORE completing. Email to: [email protected]; Fax to: +1-703-256-8988. Questions: +1-703-256-8900
Choose
Check One Select Your Course Media Individual Attendee Fee

Fee Fee

CD-ROM
Course
Sellect

USB
Course Name Dates
Public CEUs US Govt*
 557A: Inertial Systems, Kalman Filtering, and GPS/INS Integration
(This is the FULL enhanced course, taught over 5 MAY 13-17   $3299 3.0 $2999**
sessions See our website for details.)

 557B: Inertial Systems, Kalman Filtering, and GPS/INS Integration

(No Review). I want to opt out of the morning of Dec 11; I do
not need the review, which reduces my fee. MAY 13-17   $3249 2.7 $2984**

Course notes are provided on CD-ROM or USB drive (as well as on paper in black and white). PLEASE SELECT MEDIA
For group discounts, contact Trevor Boynton at +1-571-226-0649, or [email protected]
Reset Selections
**Courtesy U.S. federal government/U.S. military discount.

 Are you a student? Check year for a 25% discount! 2024 2025  2026+ (Discount will be reflected on the invoice we send you.)

We can accept registrations the day before the course starts, but cannot guarantee timely arrival of materials unless payment and registration is received three weeks before the course starts.

Billing Office
Contact (If Any): * _______ _____________________________________ ___________ * ________________________________________________________
Title/Pronouns First Name Middle Initial Last (Family Name)
Billing Office
Email (If Any): * ________________________________________________ Cell Phone: * ___________________________ Fax: : * _________________________________

Attendee
Name: *_________ * _____________________________________ ________________ * _______________________________________________________
Title/Pronouns First Name Middle Initial Last (Family Name)
Attendee
Organization:* ___________________________________________________ Internal Mail Stop:* ____________________ Fax:* _____________________________

Attendee Address:* ________________________________________________________________________ City: * ___________________________________________

Attendee State/Province:* _________________________________________ Zip/Postal Code: * ________________________________ Country: : * _______________

Attendee Email: *_____________________________________________ Attendee Cell Phone: * ___________________ Office Phone:* ___________________________
*Required Information
Check here  if you require a formal invoice.
Payment method:
 Credit card (We will send you a credit card link for payment after the the minimum course attendance is confirmed. A 2.75% processing fee will be added.)
 Wire Transfer (Please send me wire transfer instructions. Note: NavtechGPS does NOT charge a processing fee for wire transfers.)
 A purchase order or training form will be sent to the attention of Trevor Boynton at the address below.
 Check to be made payable to NavtechGPS and mailed to the address below.

Questions? Call or email Trevor Boynton, [email protected]

NavtechGPS  5500 Cherokee Avenue  Suite 440  Alexandria, VA 22312-2321 USA  +1-703-256-890
COURSE CODE: 2402