CE 597 Adjustment of Geospatial Observations Notes, Fall 2011

• matlab command summary
• solve 2x2 linear system of equations
• listing of matlab function
• tutorial on constrained minimization
• scatter plot, conf. ellipse, conf. circle
• format of RINEX observation file
• format of RINEX satellite file
• examples of LS with constraint & unified LS
• derive kalman filter equations from LS
• summary of post adjustment statistics
• redundancy number demo
• lecture 01 - intro, observations, errors
• lecture 02 - model, weights, LS objective function
• lecture 03 - maximum likelihood, line fit by scalar LS
• lecture 04 - matlab tutorial
• lecture 05 - linear algebra review
• lecture 06 - constrained minimization, LS examples
• lecture 07 - observations only, scalar LS
• lecture 08 - matrix LS, indirect observations, level net
• lecture 09 - matrix LS, observations only, level net
• lecture 10 - curve fit, coord. transf., rotations
• lecture 11 - 3D rotations, 2D coord. transf.
• lecture 12 - 2D, 3D coord. transf.
• lecture 13 - non-linear eqns, newton method, newton framework
• lecture 14 - derivation of NL-LS: ind. obs & obs. only
• lecture 15 - numerical examples NL-LS, I/O & O/O
• lecture 16 - numerical examples NL-LS, O/O, derivatives, horiz. angle
• lecture 17 - angle encoder, azimuth, angle eqn. linearization, dist. meas.
• lecture 18 - dist. meas., vert. angle obs., datum defn. & minimal constraints
• lecture 19 - more minimal constraints, distributions: normal, MVN, chi-sqr, t
• lecture 20 - F distr., prob. dens. fun., cum. distr. fun., matlab, expectation, corr., cov. mx.
• lecture 21 - error prop., EP:examples, 1,2-step, Qdel-del for I/O, prior, post sig_0_hat^2
• lecture 22 - Qlhlh, Qvv (I/O)
• lecture 23 - Qvv (I/O), Qvv, Qlhlh (O/O), pre- post- sig_0^2, global test
• lecture 24 - X^2 vs. F distr., global test, confidence interval
• lecture 26 - conf. intvl, z, t, chi2, eigenvalues, eigenvectors, conf. ellipse
• lecture 27 - conf. ellipse, eig. val., orientation, scale axes, F, draw ellipse code
• lecture 28 - circ. conf. region, MVN distr., num. intg., gen LS, counting, derive LS eqns
• lecture 29 - gen LS, full NE, solution by elimination, circle fit, 7-par transf.
• lecture 30 - 7-par linearization, gen. LS, GPS intro
• lecture 31 - GPS signal, C/A code, correlation for acquisition of sats
• lecture 32 - GPS acquisition, nav msg, ephemeris, pseudo-range, LS, coord. trnsfm.
• lecture 33 - parameter constraints, elimination, full NE, N full rank
• lecture 34 - parameter constraints, N full/not full rank, added par., unified LS
• lecture 35 - unified LS, del=total par. value, nonlinear unified LS
• lecture 36 - hw7 comments, finish derivation unified LS, examples: constr. & unif.
• lecture 37 - unif. LS example, sequential formation of NE for line fit problem
• lecture 38 - sequential formation of NE, sequential LS
• lecture 39 - review HW7 (gps pseudorange adjustment), sequential LS
• lecture 40 - sequential LS, kalman filter, discrete, batch solution, gauss elim.
• lecture 41 - kalman filter derivation, with notation from brown & hwang
• lecture 42 - review HW5 (see HW page, notes), finish KF, transition matrix
• lecture 43 - more review HW5, exam 2 review, redundancy numbers, outlier detection