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This book is a compilation of all the formulae that a mariner is commonly called upon to use but the exact workings of which he has perhaps forgotten. For each subject category, the author states the basic parameters in narrative form, often including a figure, graph, chart, diagram, or table, and then provides accompanying equations and their amplifications. Although some formulae that are simpler in format are propounded in other texts, many of those formulae lead to confusion in that a oespecial rulesa must be applied to them in order to obtain a correct answer. However, the rules applied to the formulae in this book work for all problems. In a great circle sailing situation, for example, the fact of whether the vertex is ahead of you or behind you does not matter--if you apply the rule(s) given in this book, you will get the correct answer. Another important feature of the book is its devotion of over ten pages of material to the international system of units (S.I.)
Whereas numerous tomes of comprehensive studies of navigation and related subjects are readily available for the professional navigator, there is dearth of publications suitable for the amateur navigator in a "how-to" form. Furthermore, the appearance of relatively inexpensive electronic devices, such as the GPS, has lured would-be navigators away from the traditional methods of navigation, in spite of the warnings offered by the companies producing these devices. Thus they overlook the "sine qua non" of good navigation, the determination of the current velocity, that is the set and drift. Once determined this component of the navigational triangle makes precise navigation a snap, whereas without it there is only uncertainty. Most students are turned off by the need to acquire a practical application of basic formulae employing basic trigonometry and later spherical trigonometry, methods which have evolved over the centuries from the beginning of the Age of Exploration in the early 1400's to modern days. In this text we develop the knowledge and application of these mathematical processes in such a way as to reassure the student that these techniques are not beyond his capabilities.
This estimation reference text thoroughly describes matrix factorization methods successfully employed by numerical analysts, familiarizing readers with the techniques that lead to efficient, economical, reliable, and flexible estimation algorithms. Topics include a review of least squares data processing and the Kalman filter algorithm; positive definite matrices, the Cholesky decomposition, and some of their applications; Householder orthogonal transformations; sequential square root data processing; mapping effects and process noise; biases and correlated process noise; and covariance analysis of effects due to mismodeled variables and incorrect filter a priori statistics. The concluding chapters explore SRIF error analysis of effects due to mismodeled variables and incorrect filter a priori statistics as well as square root information smoothing. Geared toward advanced undergraduates and graduate students, this pragmatically oriented and detailed presentation is also a useful reference, featuring numerous helpful appendixes throughout the text.

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