Navigation systems

The course is not on the list Without time-table
Code Completion Credits Range Language
XP37NAV ZK 4 2P+2L English
Department of Radioelectronics

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.

Syllabus of lectures:

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

Syllabus of tutorials:
Study Objective:
Study materials:

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-


Further information:
No time-table has been prepared for this course
The course is a part of the following study plans:
Data valid to 2020-09-26
For updated information see http://bilakniha.cvut.cz/en/predmet5988006.html