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Course 338 Details

Course 338: GNSS and Integration for Portable Navigation (1.8 CEUs) On-Site Only
Instructors: Dr. Mark Petovello, University of Calgary


This 3-day course will give attendees a solid understanding of the key aspects of navigation, as applied specifically to portable devices. Ongoing challenges with the various technologies are taught to give attendees a practical understanding of what is possible and where more efforts may be needed.


 In particular, the course teaches GNSS basics, how GNSS receivers work, estimation algorithms and position computations, and integration of GNSS with other sensors, including inertial navigation systems. The inter-relatedness of these different aspects is also discussed. Ongoing challenges with the various technologies are taught to give attendees a practical understanding of what is possible and where more efforts may be needed.


Because the course is designed to give an overview of several topics and how they interact within a portable navigation system, attendees do not need a background in any one particular area.

Who Should Attend?

This course is for people working on various aspects of navigation systems for portable devices, but who want more exposure to the overall process. By better understanding the entire positioning problem and solution, attendees will gain an appreciation for how their work affects the overall system.

Materials You Will Keep

  • A color electronic copy of all course notes will be provided on a USB Drive or CD-ROM. Bringing a laptop to this class is highly recommended for taking notes using the Adobe Acrobat® sticky notes feature; power access will be provided.
  • A black and white hard copy of the course notes will also be provided.
  • Books for on-site group contracts are negotiated on a case by case basis.

Course Outline     PDF Course Outline       On-Site Information

Day 1, Morning

GNSS Fundamentals
● Review of GNSS fundamentals
● Overview of GNSS errors, including indoors
● Basic GNSS signal structure
● GNSS receiver operations (acquisition through navigation solution)
● Types of GNSS measurements
● GNSS error overview

Day 1, Afternoon

GNSS Fundamentals, continued
● Satellite errors
● Atmospheric errors
● Multipath and noise
● Least-squares overview of navigation solution
● Satellite geometry and DOPs
● Positioning accuracy metrics
● Differential GNSS strategies

Day 2, Morning

GNSS Receiver Operation
● GNSS receiver architecture overview
● GNSS receiver antennas
● Local oscillator
● GNSS receiver RF front-end
● GNSS receiver signal processing: Overview
● GNSS receiver signal processing: Tracking

Day 2, Afternoon

GNSS Receiver Operation, continued
● GNSS receiver signal processing: Acquisition
● GNSS receiver signal processing: Navigation
● HSGNSS processing overview
● Coherent integration/accumulation
● Concept of tracking loop aiding
● Non-coherent integration/accumulation
● Aiding information
● Overview of advanced receiver architectures
● Weak signal tracking case studies

Day 3, Morning

GNSS Integration with Other Sensors
Estimation Algorithms
● Review of fundamental statistics
● Mathematical models
● Least-squares with and without initial information
● Statistical testing and statistical reliability in least-squares
● Concept of a Kalman filter
● System models
● Discrete-time and non-linear Kalman filter
● Statistical testing and statistical reliability in Kalman filtering
● Stochastic modeling

Day 3, Afternoon

GNSS Integration with Other Sensors
Augmentation of GNSS
● Augmentation of GPS concept
● Height constraints
● Fusion with ground-based RF measurements
● Inertial sensors
● Concepts of inertial navigation
● Equations of motion
● Inertial mechanization equations
● Inertial error equations
● GNSS/INS integration motivation and strategies
● Case studies

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