Navigation systems
Code  Completion  Credits  Range  Language 

XP37NAV  ZK  4  2P+2L 
 Lecturer:
 Pavel Kovář (guarantor), Jan Roháč
 Tutor:
 Pavel Kovář (guarantor), Jan Roháč
 Supervisor:
 Department of Radioelectronics
 Synopsis:

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.
 Requirements:
 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
parameters
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
1214. 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, ISBN13: 9780521760546.
Grewal Mohinder S., Andrews Angus P.: Kalman Filtering: Theory and Practice with MATLAB 4th Edition, Wiley 2014,
ISBN13: 9781118851210
Grewal Mohinder S., Andrews Angus P., Bartone Chris G. : Kalman Filtering:
Global Navigation Satellite Systems, Inertial Navigation, and Integration 3rd Edition, Wiley 2013, ISBN13: 978
1118447000
 Note:
 Further information:
 No timetable has been prepared for this course
 The course is a part of the following study plans:

 Doctoral studies, daily studies (compulsory elective course)
 Doctoral studies, combined studies (compulsory elective course)