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Advanced methods in Localization and Navigation

* Exchange students do not have to consider this information when selecting suitable courses for an exchange stay.

Course Unit Code548-0150/01
Number of ECTS Credits Allocated4 ECTS credits
Type of Course Unit *Compulsory
Level of Course Unit *Second Cycle
Year of Study *Second Year
Semester when the Course Unit is deliveredSummer Semester
Mode of DeliveryFace-to-face
Language of InstructionCzech
Prerequisites and Co-Requisites Course succeeds to compulsory courses of previous semester
Name of Lecturer(s)Personal IDName
KAC072doc. Ing. Michal Kačmařík, Ph.D.
Summary
The course in the first part provides theoretical and practical knowledge of advanced techniques for positioning using Global Navigation Satellite Systems (GNSS). In the second part, it introduces students other existing sensors and techniques usable for localization and navigation in space and the possibility of their combinations.
Learning Outcomes of the Course Unit
The student demonstrates knowledge of:
- phenomena and errors affecting GNSS positioning,
- GNSS techniques based on differenced and undifferenced observations,
- long-term and short-term coordinate changes in time,
- current techniques for positioning and navigation and the possibilities for combining them,
- the available software in the area of study,

The student can:
- process data from various GNSS measurements using the Precise Point Positioning method and the double-difference method,
- solve long-term routine GNSS processing in order to obtain time series of precise coordinates of receivers,
- use standard mobile devices to apply advanced GNSS positioning techniques,
- use standard mobile devices for positioning and navigation using a combination of location and navigation techniques (GNSS, inertial, using wireless networks)
Course Contents
1) Introduction to precise GNSS positioning
2) Observation and support data for precise GNSS positioning, their pre-processing
3) Phenomena and errors influencing GNSS positioning
4) Ambiguity resolution
5) Precise Point Positioning (PPP) technique
6) Double-differenced techniques, network solution
7) Work with coordinates, long-term and short-term changes in coordinates
8) Localization via wireless networks
9) Vision based localization and navigation
10) Inertial localization and navigation
11) Fusion of sensors and technologies
12) Indoor lokalizace a navigace
13) Simultaneous navigation and mapping (SLAM)
Recommended or Required Reading
Required Reading:
TEUNISSEN, P., MONTENBRUCK, O. Springer Handbook of Global Navigation Satellite Systems. Springer, 2017, ISBN: 978-3-030-73172-4.
QUAN, W., LI, J., GONG, X., FANG, J.: INS/CNS/GNSS Integrated Navigation Technology. Springer, Berlin, Heidelberg, 2015. ISBN:978-3-662-45158-8.
SUBIRANA, S., ZORNOZA, J., HERNANDÉZ-PAJARES, M.: GNSS DATA PROCESSING, Volume I: Fundamentals and Algorithms. European Space Agency, 2013. ISBN:978-92-9221-886-7.
SAMAMA, N. Indoor positioning: technologies and performance. Wiley, 2019. ISBN:978-1-119-42184-9.
KAČMAŘÍK, M.: Pokročilé metody zpracování GNSS měření. Učební text, VŠB-TUO, 2014, 111 str.
VOJTEK, D.: Globální navigační a polohové systémy. Učební text, VŠB-TUO, 2014, 357 stran.
JAKL, M.: Inerciální navigační systém pro mobilní telefony. Diplomová práce, Univerzita Karlova, 2019.
QUAN, W., LI, J., GONG, X., FANG, J.: INS/CNS/GNSS Integrated Navigation Technology. Springer, Berlin, Heidelberg, 2015. ISBN:978-3-662-45158-8.
Recommended Reading:
DACH, R., LUTZ, S., WALSER, P., FRIDEZ, P.: Bernese GNSS Software, Version 5.2. University of Bern, 2015, 884 str. ISBN:978-3-906813-05-9.
BURGER, W., BURGE, M., J.: Principles of Digital Image Processing: Fundamental Techniques. Springer, 2011. ISBN:978-1848001909.
SAND, S., DAMMANN, A., MENSING, Ch. Positioning in wireless communications systems. Wiley, 2014. ISBN:978-0-470-77064-1.
YASUDA, Y., Martins, L.E., Cappabianco, F.: Autonomous Visual Navigation for Mobile Robots: A Systematic Literature Review. ACM Comput. Surv., 2020, 53, 1.
KOSTELECKÝ, J.: Globální polohové souřadnicové systémy, ČVUT, Praha, 2019, 126 stran, ISBN: 978-80-01-06571-6.
SOJKA, E.: Digitální zpracování a analýza obrazů. Učební text, VŠB-TUO, 2000. ISBN:80-7078-746-5.
ŽÁKOVEC, M.: Vizuální navigace mobilních robotů ve formaci. ČVUT Praha, 2017.
COOK, G., ZHANG, F.: Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, 2nd Edition. Wiley-IEEE Press, 2020. ISBN:978-1-119-53482-2.
Planned learning activities and teaching methods
Lectures, Tutorials
Assesment methods and criteria
Task TitleTask TypeMaximum Number of Points
(Act. for Subtasks)
Minimum Number of Points for Task Passing
Credit and ExaminationCredit and Examination100 (100)51
        CreditCredit33 17
        ExaminationExamination67 (67)26
                Písemná zkouškaWritten examination50 26
                Ústní zkouškaOral examination17 0