GPSINS 7049 OWENSMOUTH AVE www.gpsins.info TEL: (818) 716 1237 CANOGA PARK, CA 91303 Email: course@gpsins.info FAX: (818) 716 1721

GPS/INS MULTISENSOR KALMAN FILTER NAVIGATION instructed by

DR. SAM C. BOSE

2007 June 25 – 28 Monday - Thursday, CITADINES, Paris Les Halles, France

2007 November 13 – 16 Tuesday - Friday, SUNDESTIN, Destin, Florida, USA

GLOBAL POSITIONING (GPS) & INERTIAL NAVIGATION (INS)

SENSORS, SYSTEMS, MECHANIZATIONS, ERROR MODELS,

KALMAN FILTERING, MULTISENSOR INTEGRATION,

SENSOR AND SYSTEM ANALYSIS AND TESTING with

UNIFIED SIMILARITIES AND DIFFERENCES

BETWEEN GIMBALLED AND STRAPDOWN SYSTEMS,

CLASSICAL FEEDBACK, LEAST SQUARES AND KALMAN including

PRECISION MULTISENSOR NAVIGATORS TO LOW COST AHRS

GIMBALLED & STRAPDOWN LEVELING & GYROCOMPASSING

INFLIGHT, TRANSFER, WIDE ANGLE ALIGNMENT METHODS

CLASSICAL & KALMAN BARO/INERTIAL STABILIZATION

CLASSICAL & KALMAN DOPPLER/INS AUGMENTATION

GPS LEAST SQUARES AND STAND ALONE KALMAN

GPS RECEIVER, CLOCK/BARO AIDS, INTEGRITY

CARRIER PHASE FILTERED PSEUDORANGE

LOOSE, TIGHT, DEEP COUPLED GPS/INS

MULTISENSOR AIDED GPS/INS

GPS/INS FAULTISOLATION

32 Lectures each 55 min during 4 hr sessions with one 20 min break Lecture notes consisting of over 600 pages available to attendees only

Computer demonstration each day between 5-6 pm using SIMNAV®

SATELLITE INERTIAL MULTISENSOR NAVIGATION ACCURACY VALIDATION

software developed for multisensor navigation over the last 25 years � Student understanding of material is instructor's primary objective � Student participation stimulated by instructor prompted discussions � Each section contains road map of contents and list of references � Selection/organization of topics based on logical flow of information � Inter-relationship of different concepts shown throughout the course � Analogy with well understood phenomena to explain complex ideas � Intuitive physical/geometrical/heuristic meaning of analytical results � Analytical results derived from first principles using simple concepts � Block diagrams used profusely to show interplay of cause and effect � Practical application of results are emphasized throughout the course � Computer demonstration is of an actual system implemented & tested LOCATIONS,FEES, MEALS,LODGING & ENROLLMENT INFO ON PG 10

Copyright 2007 gpsins.info

GPSINS *Paris,France*Destin,Florida* pg 2 of 10

INSTRUCTOR QUALIFICATIONS Dr. Sam C. Bose has over 32 years experience in navigation, guidance and control systems design, analysis and software. He is President and Technical Director of a consulting firm where for the last 25 years he and his staff have provided advanced analysis, innovative algorithms, performance simulations, flight test data analysis, real-time software development, and system design, test and integration services to the Department of Defense, NASA, British MOD, and U.S./European defense and aerospace companies. Previously, at Litton GuidanceControl (now Northrop Grumman Navigation Systems), Dr. Bose developed multisensor navigation/guidance/surveying systems error models, Kalman filters,large scale simulations for performance analysis, real-time software and real-time test and simulation facilities. Earlier, at NASA/Ames, he performed real-time man-in-the-loop simulations for which he was given the Outstanding Performance Award. Dr. Bose received his B.S.(Summa Cum Laude) and M.S. degrees in Electrical Engineering from the Polytechnic Institute of Brooklyn, New York in 1973 and 1974 respectively and the Ph.D. degree in Engineering (Estimation & Control) from the University of California, Los Angeles in 1980. For undergraduate work he was elected to several academic honor societies and awarded the Best Graduating Electrical Engineer. For graduate work, he was nominated as an Outstanding Engineering Doctoral Candidate. Dr. Bose has many publications in navigation, guidance and control. He has been a reviewer of IEEE, AIAA and AGU journal papers. He has been a member of NASA Science Steering Council and Defense Science Board. He is listed in various biographical citations including the Who's Who in the World (9th ed.,1989/90).

PREVIOUS ONSITE HOSTS OF THIS INSTRUCTOR FOR THIS COURSE

Defense Mapping Agency, Warren Air Force Base, Cheyenne, Wyoming

NASA, Dryden Flight Research Center, Edwards AFB, California

U. S. Army Engineer Topographic Labs, Fort Belvoir, Virginia

Naval Coastal Systems Station, Panama City, Florida

Naval Surface Weapons Center, Dahlgren, Virginia

NASA, Johnson Space Center, Houston,Texas

Singapore Technologies Aerospace, Singapore

Canadian Space Agency, St. Hubert, Canada

CONAE, Buenos Aires, Argentina

KOMATSU, Kanagawa, Japan

CICETE, Beijing, China

ETH, Zurich, Switzerland

Litton Aero Products, Moorpark, California

Raytheon Missile Systems, Tucson, Arizona

Wright Patterson Air Force Base, Dayton, Ohio

BF Goodrich Aerospace, Grand Rapids, Michigan

Interstate Electronics Corporation, Anaheim, California

NASA, Marshall Space Flight Center, Huntsville, Alabama

Rockwell Autonetics & Missile Systems, Anaheim, California

US ARMY Space & Missile Defense Center, Huntsville, Alabama

CONTACT US FOR A NO-OBLIGATION ON-SITE COURSE PROPOSAL

GPSINS *Paris,France*Destin,Florida* pg 3 of 10 COMMENTS OF PREVIOUS ATTENDEES Thank you for the fine job you did of teaching at our facility.Logically presented, upto date and informative.

Al Worden, Apollo15 Astronaut & President, BF GOODRICH AEROSPACE, Grand Rapids, MI

Dr. Bose is an excellent teacher in addition to having complete knowledge of the subject matter. I think his strongest

quality is his teaching ability; he teaches for the class, not at them. He always tries to get the students involved by

asking questions. Whenever he senses people are not understanding the material, he gives a physical interpretation

of what is going on. He explains even the most complex ideas in terms of simple concepts that everyone understands,

and then adds in the complex details. Elton Hopper, WPAFB,OH

I consider this course a must for all new employees, highly recommend for experienced employees and a periodic

refresher for all involved with GPS/INS. George Kosmos,Head,GPS/INS Div, NRaD, San Diego,CA

An excellent course. It has been a pleasure listening to someone who knows his material.

Dr. Doyle Dingus, ASD, EGLIN AIR FORCE BASE, Florida

Thanks for sharing your knowledge with me. You made a very complex subject simple and understandable.

Geng Moy, NAVAL AIR WARFARE CENTRE, Warminster, Pennsylvania

Very good course.Starts with fundamentals and transitions to more complex material. Impressed with

Dr. Bose's knowledge and down-to-earth presentation. Pete Gamboa, WRIGHT PATTERSON AFB, Ohio

I like this course very much. It gave me a well rounded understanding of the whole navigation process.

Khien Nguyen, NCCOSC, RDT & E Div, San Diego, California

This is the best short course in any subject I have taken during my career.

Denise Martinsek, WRIGHT PATTERSON AIR FORCE BASE, Ohio

The course was most valuable and constructive. Your course clarified, reinforced and exposed many areas. Many

thanks for the best course and teaching methods in inertial navigation. This course is a must for a systems engineer

engaged in navigation work. Chuck Ewald,GRUMMAN AEROSPACE, Melbourne, FL

Covered a wide range of topics involved in GPS-INS. Dr. Bose is very experienced in this field and his knowledge of

both theoretical and pragmatic aspects is extensive. This clearly manifests itself in his instruction.

Thomas Ebeling,CENTRE FOR DISEASE CONTROL/NIOSH, Morgantown, West Virginia

A ton of information. A lot of knowledge gained. Class breaks were refreshing and great.

Brian Keig, NAVAL AIR WARFARE CENTRE, Point Mugu, California

Dr. Bose has a knack for explaining complex material. Overall a very good course and I enjoyed it immensely.

Phillip Rapatz, INPUT/OUTPUT, INC. Stafford, Texas

The course is very well organized. The instructor has excellent teaching skills. The book is very detailed and

exhaustive. Jean-Michel Rousseau, ASHTECH,INC., Sunnyvale, California

The course material provided enough overview and insight for contract monitors, provided the detail so important to

system developers, and provided an invaluable start to young engineers. If only I had taken this course 10 years ago.

Vlasta’s wonderful meals and snacks kept everyone alert and focused.

Sharon Dudley, U S ARMY MICOM, Redstone Arsenal, Alabama

Great selection of topics.Great food.Covered the whole book. James Doty, ROCKWELL COLLINS, Iowa

A very complex subject was explained on a level that anyone with a basic background in INS & GPS could

understand. Also, the food was excellent. Michael Perry, US AIR FORCE, San Antonio, Texas

Overall I would rate it as an excellent course. The instructor is very knowledgeable in the subject and responds well

to questions posed by the class. Bruce Hewston, NAVAL SURFACE WEAPONS,Dahlgren,VA

This was an outstanding course. The instructor demonstrated expert level knowledge of every aspect of the subject.

Greg Dukeman, NASA, MARSHALL SPACE FLIGHT CENTRE, Huntsville, Alabama

Dr. Bose is clearly very expert and experienced in the subject area, and was both patient and sincere in responding

to questions. Michael Anspach, EGLIN AIR FORCE BASE, Florida

Course far exceeded my expectations. An outstanding job.

Joel Antley, GRUMMAN AEROSPACE, Melbourne, FL Bill Canfield,CECOM, Fort Monmouth, NJ

GPSINS *Paris,France*Destin,Florida* pg 4 of 10

MORE COMMENTS OF PREVIOUS ATTENDEES Very impressed by the completeness of the course. Not only precise theoretical concepts but practical implications

were addressed. The course was very well organized and the material was presented gradually, which is essential in

such an intense course. Dr.Bose is very clear in his explanations and has a profound knowledge of all the subject.

Physical interpretations of difficult parts of the material are essential during the class, and Dr. Bose presents them in

a simple way. He also responds very well to questions posed during his explanations. Overall we would rate this as

an excellent course Ricardo S. Sanchez Pena, Ph.D.(Caltech), Professor of Engineering, UNIV of BUENOS AIRES,

Argentina & Research Scientist, CONAE, Argentina

All of the material relevant to navigation is brought together in one set of notes. This is a great resource. Instructor

is very knowledgeable and presents material very well. The efforts made to provide attendees with refreshments and

meals are extraordinary and much appreciated. My compliments to the course coordinator.She is very well organized

and a most pleasant asset to the course. Overall, I found the course to meet my expectations and well worth the

expense. I would highly recommend it to anyone wishing to improve skills and mastery of navigation related subject

matter. Ragon Kinney, SANDIA NATL LABS,Albuquerque,NM

Instructor gave very clear discussion of material. Highly motivated and enthusiastic.Encouraged student

participation and answered questions very clearly.Excellent course. Ernest Ohlmeyer, NSWC, Dahlgren, VA

Good overall coverage of the whole system. Charles McKerley, NICHOLS RESEARCH, Huntsville,Alabama

People at NASA have a need for this course. Debra Randall, NASA DRYDEN, Edwards Air Force Base, CA

Liked organization and structure. Rafael Olmedo Soler, INST NATL TEC AEROSPCE, Madrid, Spain

Topics flow logically into making a very cohesive presentation. Nice style of presentation making it easy to listen for

five days. That’s not easy to do. Very good course. I enjoyed course very much and I think it was well worth my time

(and my company’s money) to attend this course. It would be well worth anyone’s time who is involved in GPS/INS

related fields. Thanks. Vincent Wos, LOCKHEED MARTIN, Fort Worth, Texas

This is possibly the best short course I have attended. Besides all the lectures, Vlasta did a remarkable job

considering breakfast, lunch and breaks. Jan Kjellgren, DEFENCE RESEARCH EST, Linkoping, Sweden

I have NEVER seen somebody teach so well. Patrick Wagner, DAIMLER BENZ AEROSPACE,Munich,FDR

The subject matter for this course is complex,and the instructor should be complimented for good knowledge in all

areas. There's probably only a handful of people in the whole country who could expertly cover all this material. The

presentations were all clear, pertinent, and presented well. The instructor is a good speaker, and a good teacher.

Ken Woelfel, LITTON AERO PRODUCTS, Moorpark, California

Dr. Bose provided an in-depth, yet understandable development. Dr. Bose is very knowledgeable. I highly

recommend this course for thoserequiring knowledge in navigation. Neil Banks, WPAFB, Ohio

Excellently prepared and presented and shows a great deal of thought in its organization and broadness for detail

design or systems or test managers and engineers. Dr. Bose did an excellent job presenting the material and showed

great patience and understanding for novice students. Fred Nadeau, WPAFB, Ohio

Dr. Bose answers questions thoroughly. A lot of times you get someone who knows the subject inside and out, but

cannot teach it. This is not the case here. Dr. Bose is an excellent teacher.

Brian Weyant, 4950th TEST WING, Wright Patterson Air Force Base, Ohio

An outstanding course. I highly recommend it for personnel desiring knowledge in this area. The course book will

serve as a good reference in the future. It was obvious that the instructor has a solid background in the subject area.

Stan Zavist, AERONAUTICAL SYSTEMS DIV, Wright Patterson Air Force Base, Ohio

The overall quality of the class was excellent. Dr.Bose was a great instructor and presented the information well. He

is obviously an expert in the field. George Bledsoe, FOREIGN TECHNOLOGY DIV, WPAFB, Ohio

The background of the audience varied greatly - systems engineers, software engineers, system analysts and

managers attended. Dr. Bose managed his lectures so that everyone learned something. Dr. Bose was well prepared

for his classes and clearly knows the subject thoroughly. His organization of the lecture material was clear and

logically progressed from the physics principles to the stated assumptions to the mathematical formulations.

Dr. Steve Harris, LITTON AERO PRODUCTS, Moorpark, California

GPSINS *Paris,France*Destin,Florida* pg 5 of 10 COURSE OUTLINE & DAILY SCHEDULE

(L – Lecture by Instructor; D – Demonstration using Computer)

DAY 1 AM 8 - 12: GPS SYSTEM DESCRIPTION

L1. GPS Satellites & Ground Control Navigation definition. Radionavigation:active/passive. VLF/VHF. Segments: ground, space,user. Constellation.Visibility. Satellites. Orbits. Coverage. Control corrections.

L2. GPS Signals & Receivers C/A,P(Y),M codes. Signal travel time. Decoding. Sliding correlator. L1,L2 signals. Spread spectrum. Signal jamming. PPS/SPS. Receiver functions. Fast acquisition. Appendix : GPS Satellite Position Computation Algorithm in Earth Coordinates.

L3. GPS Solution & Geometry Code tracking user position. Carrier tracking user velocity. Control segment inverted navigation. Simple 2-D example. Geometry. GDOP. Satellite selection algorithms.

L4. GPS System Errors, Differential, Wide Area Satellite clock, ephemeris, atmospheric, receiver, multipath errors.Relativistic effects. Corrections. Code/carrier noise. Selective Availability. Error budget. UERE. FOM. Differential concept. Corrections. Pseudosatellites. Wide area augmentation.

DAY 1 PM 1 - 6 : GPS NAVIGATION PROCESSING

L5. Least Squares, Stochastic Modeling, Kalman Filter Least squares:batch/recursive.Relationship to Kalman. Stochastic Representations: Random Bias, White noise, Correlated Noise, Random Walk. Continous/Discrete noise. Kalman filter model/algorithm. Covariance propagation. Markov Process.

L6. GPS Stand Alone Least Squares, Kalman, Integrity Pseudo range and delta range/carrier phase linearizations. GPS least squares and standalone Kalman. Clock/baro aiding/calibration. GPS Integrity. RAIM algorithms.

L7. GPS Carrier Phase Smoothing Pseudorange Kalman Carrier phase measurements. Differenced phase. Pseudorange & phase observable differences. Pseudorange/phase complementary filters. Ambiguity estimation.

L8. GPS Carrier Phase Differencing & Attitude Phase difference measurements. Integer ambiguity. Attitude geometry. Correction vector. Pseudorange initialization. Carrier phase refinement. Motion based methods.

D1. Simulation Overview & Vehicle Profile Simulation Multistep simulation overview. Vehicle trajectory and maneuver constraints for a realistic vehicle profile truth will be simulated and compared to error free inertial.

GPSINS *Paris,France*Destin,Florida* pg 6 of 10

DAY 2 AM 8 - 12: INERTIAL PRINCIPLES

L9. Acceleration Sensing and Gyroscopic Precession Inertial sensors. Translational motion. Elementary accelerometer. Accelerated, stationary, freefall. Mass attraction. Sensing equation. Rotational motion. Spinning wheel gyro. Gimbal isolation. Angular momentum.Torque. Gyroscopic precession.

L10. Stationary 2-D Grid Navigator Gimballed/strapdown inertial navigation overview. Simple example sensor selection. Mechanization/block diagrams. Error sources. Error propagation/block diagrams.

L11. Rotating Spherical Earth Navigator Spherical earth. Rotation of earth. Earth rate corrections. Surface curvature. Vehicle transport. Craft rate corrections. Centripetal corrections. Coriolis corrections.

L12. Reference Frames & Transforms Inertial, ECEF, Local level, Wander azimuth, Platform, Body frames. Euler Rotations. Direction Cosine Matrices. Earth-to-Nav. Nav-to-Body. Euler Rates. Singularity.

DAY 2 PM 1 - 6: INERTIAL SENSORS

L13. Mechanical Accels/Gyros/Platforms Sliding mass, piezoelectric, vibrating string, pendulous accels. Displacement, rate, floated, tuned rotor gyros. Stable platforms. Gimbal lock. Platform gyro control.

L14. Ring Laser & Fiber Optic Gyros Rotating racetracks. Analogy to rotating light beams. Interference of light beams. Sagnac interferometer. Fiber optic gyro. Ring Laser Gyro. Resonant Cavity. Excitation of Cavity. Stimulated Emission. Energy transitions. Effect of rotation. Size and geometry, 3 vs 4 mirrors. Stability. Resolution. Lock-in/dithering. Zero lock.

L15. Micromachined Accelerometers & Gyroscopes MEMS devices. Process technology. Bulk vs surface micromachining. Thin Films. Piezoelectrics. Electroplating. Wafer bonding. Lithography. MEMS accels/gyros.

L16. Error Calibration, Compensation, Representation Instrument errors: bias, thermal bias, scale factor, misalignments, etc. Multi-position rotation calibration for accel and gyro. Instrument compensation. Accel and gyro residual errors. Stochastic models. IMU error budgets:MEMS,FOG,RLG etc.

D2. MultiSensor Signal & Error Simulations Sensors truth models: inertial, GPS, aiding sensors specified via error budgets. Sensors simulation, followed by review of statistical analysis of sensor outputs.

GPSINS *Paris,France*Destin,Florida* pg 7 of 10

DAY 3 AM 8 - 12: INERTIAL SYSTEM MECHANIZATIONS

L17. Earth’s Shape & Gravity Oblate spheroid model of earth. Radii of curvature. WGS 84. Gravitation & Gravity. Ellipsoidal Normal gravity model. Disturbance covariance gravity models.

L18. Position, Velocity, Attitude Vector notation. Coriolis law. Velocity rates. Craft rates. Skew sym matrix. Direction Cosine Matrix (DCM) rates. Position rates. Attitude rates. Gimball/Strapdown mechs. Appendix: Direction cosine matrix orthogonalization and normalization.

L19. Strapdown Attitude Quaternions Quaternion concept and representation.Euler quaternion.Earth-to-nav,body-to-level examples. Quaternion operations. Quaternion to DCM. Quaternion rates.

L20. Strapdown Coning & Sculling Coning/Sculling examples. Gyro pulses. Multirate quaternion propagation.Coning compensation. Accel pulses. Body frame transformation. Sculling compensation. Appendices: General transformation, Coning equation, Rotation vector propagation.

DAY 3 PM 1 - 6: INERTIAL SYSTEM ERRORS

L21. Gimballed/Strapdown Error Formulation Geometrical, physical, mathematical definition of angular position error and attitude error. Gimballed vs Strapdown. Psi equation. Component vs vector differences.

L22. Gimballed/Strapdown Error Propagation Position, velocity and attitude error diff eqns. Gimballed vs strapdown gyro drift. Appendices:Stationary transfer functions,System errors plots to sensor,initial errors.

L23. Altitude Instability & Schuler Oscillations Gravity variations. Altitude instability. Pendulous reference. Schuler pendulum. Schuler oscillations. Altitude vs level errors. Free vs augmented. Aiding sensors. Appendix: Classical Adaptive Feedback Compensation Design for Vertical Channel

L24. Leveling, Gyrocompassing, Testing Typical alignment sequence. Physical/analytical self leveling. Coarse azimuth estimate. Gravity/Earth rate errors. Fine leveling. Gyrocompassing. Gyro Bias. Fundamental limits. Steady state conditions. Strapdown system maneuver effects. Tilt accumulation. Error rectification vs cancellation. Flight test profile design.

D3. Inertial System Error Simulations Inertial sensor errored measurements simulated on previous day will be used to drive free inertial navigation system to access effects of various sensor errors on inertial system performance.

GPSINS *Paris,France*Destin,Florida* pg 8 of 10

DAY 4 AM 8 - 12: MULTISENSOR KALMAN FILTERING

L25. MultiSensor Kalman Filter Formulation & Derivation Continuous system and discrete updates. Whole/error value. Observable difference. Covariance/correlation. Radar/inertial example. LKF,EKF. Close/open loop control. Derivation of Kalman filter. Errror covariance propagation. Matrix Riccati Equation.

L26. Noise Modeling & Tuning Example Baro inertial synergism. Vertical channel mechanization and error model. Vertical accel/Baro errors. Dynamics matrix. Observable difference. Adaptive noise models.

L27. Observable Difference Derivation Example Measurement geometry. Velocity sensor lever arm. Doppler measurement at inertial location. Observable difference. Doppler error model development. Kalman states.

L28. Design, Analysis, Simulations, Implementations Truth vs filter model. Mismodeling. Decoupling. White noise substitution.Prefiltering. Simulation techniques: Covariance analysis, Sensitivity analysis, Monte Carlo. Covariance propagation. Numerical errors. Ill-conditioning. Adhoc methods. Square root algorithms. Cholesky decomposition. Decorrelate meas. Sequential processing.

DAY 4 PM 1 – 6: GPS/INS/MULTISENSOR INTEGRATION

L29. GPS/INS Kalman Mechanizations Mixing GPS/INS. Benefits. Pitfalls. Position, velocity vs pseudorange, delta range, carrier phase. Open vs closed loop. Types of coupling: loosely, tightly, fully, deeply.

L30. GPS/INS Kalman Implementations Truth models, error budgets of satellite clock, ephemeris, ionosphere, troposhere, multipath; user clock, code loop and carrier loop. Filter user clock model and inertial dynamics matrix. Adaptive process noise. Loosely and tightly coupled filter states. Appendix: Pseudo range/ delta range linearizations to INS and GPS error states.

L31. GPS/INS Kalman Augmentation Baroaltimeter and doppler sensor augmentation. Baro and doppler truth models and filter states. Error sources. Candidate baro/doppler aided GPS/INS Kalman filters.

L32. GPS/INS Kalman Faultisolation Kalman Innovations Covariance. Innovations properties and tests.Filter problems,ad hoc fixes. Innovations fault detection. Bank of filters. Multiple filter fault isolation.

D4. MultiSensor Kalman Filter Simulations Simulations to demonstrate sensitivity to turning off selected aiding sensors at selected intervals, degraded sensor measurements, number of filter states, process noise, observation noise, scaling of tuning parameters, vehicle maneuvers.

GPSINS *Paris,France*Destin,Florida* pg 9 of 10

COURSE LOCATIONS Mon-Thu Jun 25 - 28, 2007 CITADINES Paris Les Halles,France 4, rue des Innocents, 75001 Paris, France Tel: 33 1 40 39 29 29 Fax: 33 1 45 08 40 65 Website: www.citadines.com Email: leshalles@citadines.com Daily Rate(Euro):135 (Studio); 205(1bedroom) CITADINES, in Les Halles, with studios & 1 bdrm apartments with kitchens, is in the most vibrant part of Paris, within walking distance of the Louvre Museum, near fine restaurants,boutiques, theatres,concerts,jazz clubs, cabarets,riverboats, romantic banks of the Seine river, and the nearby Pompidou Centre and the famed Notre-Dame. Tue-Fri Nov 13 - 16, 2007 SUNDESTIN RESORT Destin, Florida,USA 1040 Hwy 98 E, Destin, FL 32541, USA Tel: 850 654 4030 Fax: 850 243 7548 (Sundestin) Tel:850 654 4030 Fax:850 301 3456(Reservations) Email: nniebruegge@resortquest.com Website: www.resortquest.com (Cust# 243241) Daily Rate(US$):1br w/ kitchen:86.40 to 101.70 SunDestin, on Hwy 98 E, east of Destin Bridge and west of Mid Bay bridge is a high rise resort with tennis/racquet courts, health club, heated pools with 1 & 2 bedroom condominiums with kitchens/balconies, is on the Gulf of Mexico, with white sand beaches, crystal clear green waters, deep sea fishing, and fine seafood restaurants.

GPSINS *Paris,France*Destin,Florida* pg10 of 10

COURSE ENROLLMENT INFORMATION FEES: $ 2200 per person to be paid in US $ via check, credit card, bank transfer or cash. DISCOUNTS: $ 200 discount only if prepaid(PP) 7 days before first day of class. Checks mailed, bank transfers, credit card approvals must be received at least 7 days prior to course start date to be eligible for discount. Credit card numbers given at registration time at the course location cannot be processed there and will not qualify for the discount. PAYMENTS: All payments are due prior to course start date except when there is an approved company or government purchase order (PO). No discount will apply. LATE FEES: All payments not received by class start date are due within 30 days from last day of class. Payments received after 30 days of the last day of course are subject to a late fee of 10% and finance charge of 0.05% per day for every day late after 30 days. CANCELLATIONS : Must be received by fax or email 10 days prior to course start date. Those who cancel beyond that date or fail to attend, forfeit the entire fee. Substitutions may be made at any time. Should we have to cancel the course for any reason, all enrolled will be notified immediately, and a full refund will be issued. We are not liable for any expenses incurred because of the cancellation. MEALS: Monday thru Friday hot breakfast (7-8 am) & lunch (12-1 pm),refreshments during all breaks and wine & cheese (5-7 pm) are provided to all course attendees. Dinner is not provided but many eating establishments and fine restaurants exist near the course hotels. LODGING: To be arranged by attendee. Specify GPSINS room block to get special group rate. Reserve early. Room reservation deadline 2 weeks prior to course start date. REGISTRATION: 7-8 am; Monday, first day during breakfast. Enquire at hotel lobby.

COURSE ENROLLMENT FORM Mail or fax completed form (this page) to (818) 716-1721 or enroll online (preferred) at

www.gpsins.info/course/enrollment.htm Attendees to be registered prior to course start date. Seating is limited. Early registration advised. Please use separate form for each registrant. Photocopies are acceptable. Please print or type.

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GPSINS, 7049 Owensmouth Ave, Canoga Park, CA 91303-2006, USA Tel: (818) 716 1237 Fax: (818) 716 1721 Email: course@gpsins.info