Subject description - XP37NAV

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XP37NAV Navigation systems Extent of teaching:2P+2L
Guarantors:Kovář P. Roles:S Language of
Teachers:Kovář P., Roháč J. Completion:ZK
Responsible Department:13137 Credits:4 Semester:


The course is focused on the field of navigation systems and their practical applications. It covers GNSS technology including definition of coordinate systems, explanation of the physical problems associated with satellite navigation, and positioning methods. On the other hand, only one lecture is devoted to the design of GNSS receivers, since the issue of radio receivers is in details described in other master's course Architecture of Radio Receivers and Transmitters. The GNSS area is further extended to the field of inertial navigation including the navigation equations and mechanization of the calculation, inertial sensors and aiding systems/sensors, e.g. pressure based altimeters, magnetometer, Lidars, ultrasonic transducers, radars, etc. The focus is paid on detailed data fusion practical tasks for estimating position, velocity and attitude in outdoor/indoor environment.

Course outlines:

1 Introduction to navigation systems, coordinate systems
2. Orbital mechanics, position calculation
3. Satellite navigation signals and their propagation
4. Processing of satellite navigation signals Part 1
5. Processing of satellite navigation signals Part 2
6. Advanced positioning algorithms, PPP, RTK
7. GNSS interference detection and suppression
8. Inertial navigation systems - gyroscopes/angular rate sensors and accelerometers, stochastic and deterministic
9. Data fusion for attitude estimation – Euler angles, attitude quaternions
10. INS/GNSS data fusion - methods and depth of integration
11. Navigation systems for indoor environment, data fusion
12-14. Reading groups lectures - discussion on methods and approaches published in scientific literature and journals

Exercises outline:


Petrovski, I; Tsujii, T.: Digital Satellite Navigation and Geophysics: A Practical Guide with GNSS Signal Simulator and Receiver Laboratory. Cambridge University Press, 2012, ISBN-13: 978-0521760546. Grewal Mohinder S., Andrews Angus P.: Kalman Filtering: Theory and Practice with MATLAB 4th Edition, Wiley 2014, ISBN-13: 978-1118851210 Grewal Mohinder S., Andrews Angus P., Bartone Chris G. : Kalman Filtering: Global Navigation Satellite Systems, Inertial Navigation, and Integration 3rd Edition, Wiley 2013, ISBN-13: 978- 1118447000


Subject is included into these academic programs:

Program Branch Role Recommended semester
DOKP Common courses S
DOKK Common courses S

Page updated 24.2.2020 05:51:51, semester: Z,L/2020-1, Z,L/2019-20, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)