Navigation Laboratorycourse code: 081111

credits: 2.5

Academic Year 2007/08

Master of Science in Computer Engineering,Environmental and Land Planning Engineering

• Lectures (12 hours, 1/3 of the course)– Mirko Reguzzoni– for questions: office V2.10– email: mirko@geomatica.como.polimi.it

• Laboratories (24 hours, 2/3 of the course)– Lisa Pertusini (outdoor & computer labs)– M.Grazia Visconti (outdoor labs)

Lecture: V2.13

• Classrooms

• Timetable

Computer labs: V3.7 - V3.3

Laboratory:Outdoor surveys

Friday 14:15 – 17:15(lectures in classrooms)

Thursday / Friday(outdoor labs)

Lecture program

• Introduction to navigation and applications• Satellite navigation• Inertial navigation• Data analysis

Satellite navigation - GNSS

• Historical overview• The GPS system

– System architecture– Signal structure– Observations– Navigation technique

• Future systems (modernized-GPS and GALILEO)

Inertial navigation

• Reference system overview• Inertial instruments

– Accelerometers– Gyroscopes

• Navigation equations• Considerations on error budget

Data analysis

• In real time: Kalman filter• In post-processing: batch solution• Numerical examples• Applications to GPS

Laboratory program (1/2)• GPS receivers and permanent networks• Performance comparison of different receivers

– Measurements– Reading and representation of the observed data– Analysis of the results

1) GPS1200 2) GS20 3) eGPS 248/597

Laboratory program (2/2)• GPS data processing simulation

– Measurements using geodetic-quality GPS– Estimation of unfiltered positions– Implementation of different Kalman filters– Application of differential GPS corrections

without correctionswith corrections permanent station

Course schedule14 Friday 14:15 - 16:15 lecture Intro + Applications21 Friday Easter holidays28 Friday 14:15 - 17:15 lecture kinematic GPSApril3 Thursday 09:15 - 11:15 lecture Inertial systems3 Thursday 11:15 - 13:15 laboratory GPS receivers and permanent networks10 Thursday 09:15 - 13:15 laboratory GPS survey 117 Thursday 09:15 - 12:15 laboratory GPS data analysis24 Thursday Degree examinationsMay2 Friday Holiday ???8 Thursday 09:15 - 13:15 laboratory GPS data analysis16 Friday 14:15 - 17:15 lecture Kalman filter theory23 Friday 14:15 - 17:15 lecture Kalman filter applications29 Thursday 09:15 - 13:15 laboratory GPS survey 2June5 Thursday 09:15 - 12:15 laboratory GPS data analysis12 Thursday 09:15 - 12:15 laboratory GPS data analysis19 Thursday 09:15 - 12:15 laboratory if necessary

Didactic material• On the web-site of Geomatics Laboratory

geomatica.como.polimi.it, lecture notes and slides are available (in Italian and English). See also lecture notes of Misure Geodetiche.

• Recommended bibliography– Hofmann-Wellenhof (2003). Navigation. Principles of positioning and guidance.

Springer-Verlag– Hofmann-Wellenhof (2001). GPS: Theory and Practice. Springer-Verlag– Sansò (2006). Navigazione Geodetica e Rilevamento Cinematico. Polipress– Jekeli (2003). Inertial Navigation Systems with Geodetic Applications.

Walter de Gruyter GmbH & Co. KG – Cina (2000). GPS. Principi, modalità e tecniche di posizionamento. Celid

Exams

• Written report on the laboratory activities. • The contents of the written report will be

discussed in an oral examination.

• Development of simple software modules for GPS navigation - goGPS software (if possible in MATLAB or C language)op

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