Lecture

Week 1

Satellite positioning

  • Satellite orbit motion, Kepler’s laws, broadcast and precise ephemeris
  • Description of GPS signal structure and derivation of observables
  • Inventory of error sources, random and non-random effects
  • Derivation of mathematical models for absolute and differential positioning.
  • Estimation of the position and its precision based on least-square principle analysis 

Lecturer: Prof. Bertrand Merminod

Week 2

Trajectory and attitude determination with INS/GPS

  • Inertial sensors, inertial systems
  • Linear dynamical systems, stochastic differential equations
  • Inertial strapdown mechanization equations in (i,e,n) frames
  • INS strapdown error equations and calibration states
  • Alignment models
  • Redundant IMU configurations
  • Prediction, filtering, smoothing and calibration

Lecturer: Dr. Jan Skaloud

Week 3

Trajectory and attitude determination via optical positioning and dynamic networks

  • Colinearity condition for LiDAR, line and frame optical sensors
  • Sensor models and observations, feature matching
  • Principle of integrated sensor orientation
  • Concept of time dependent networks (DN)
  • DN solution strategy and structural issues
  • Formulation of GPS/INS case in DN
  • Numerical and practical issues

Lecturer: Dr. Jan Skaloud

Week 4

Localization and Navigation in Mobile Robotics

  • Overview of localization techniques in mobile robotics (off-board/on-board; absolute/relative)
  • Basic kinematic models (differential drive, Ackerman steering vehicles)
  • Odometry
  • Feature-based localization
  • Kalman filtering and particle filtering techniques applied to mobile robots
  • Multi-robot localization
  • Fundamental of navigation (path planning, landmark-based navigation)

Lecturers: Prof. Alcherio Martinoli, Dr. Alexander Bahr

Week 5

Wireless location and state-space estimation

  • Fundamentals of radio-frequency propagation and positioning
  • Time and angle observables and associated error sources
  • Kalman filtering applied to kinematic positioning
  • Location with wireless computer network
  • Ultra-wide band positioning principles
  • Outdoor and indoor personal location, asset tracking

Lecturer: Dr. Phillip Tomé