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Lecturer(s)
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Straka Ondřej, Doc. Ing. Ph.D.
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Punčochář Ivo, Ing. Ph.D.
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Duník Jindřich, Doc. Ing. Ph.D.
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Course content
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1. Introduction to navigation systems, history 2. Coordinate systems/frames (ECI, ECEF, navigation frame, body frame) 3. Models of phenomena (gravity field, magnetic field, ionosphere, troposphere) 4. Introduction of sensors for navigation (IMU, magnetometer, odometer, Doppler radar, map, altimeter) 5. Introduction of sensors for navigation (GNSS, signals of opportunity, visual odometry) 6. Motion models (motion along a line or a curve, PVA model, Singer model) 7. Navigation equations (concept and derivation for INS and AHRS) 8.-9. Design of integrated navigation system for objects without movement constraint (INS, GNSS, altimeter, magnetometer, combination of navigation equations and state estimators, software tools) 10.-11. Design of integrated navigation system for objects with movement constraint (GNSS, odometr, Doppler radar, map, kombinace navigačních rovnic a metod odhadu stavu, softwarové nástroje) 12.-13. Design of integrated navigation system for GPS-denied environments (INS, camera, combination of navigation equations and state estimators, software tools)
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Learning activities and teaching methods
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- Contact hours
- 39 hours per semester
- Practical training (number of hours)
- 26 hours per semester
- Preparation for an examination (30-60)
- 40 hours per semester
- Individual project (40)
- 40 hours per semester
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| prerequisite |
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| Knowledge |
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| be familiar with basics of linear algebra be familiar with basics of integral and differential calculus be familiar with basics of probability theory |
| Skills |
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| to apply methods of linear algebra in analysis of system properties to apply techniques of integral and differential calculus to simulate random processes and determine their properties |
| Competences |
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| N/A |
| learning outcomes |
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| Knowledge |
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| understanding of coordinate systems/frames used in navigation understanding of phenomena (e.g., gravity and magnetic fields) understanding of navigation sensor principles understanding of object movement models |
| Skills |
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| transformation of navigation information between coordinate systems/frames design of integrated navigation systems realisation/implementation of integrated navigation systems |
| Competences |
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| N/A |
| teaching methods |
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| Knowledge |
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| Lecture |
| Lecture with visual aids |
| Practicum |
| Skills |
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| Practicum |
| Competences |
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| Lecture |
| Practicum |
| assessment methods |
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| Knowledge |
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| Oral exam |
| Written exam |
| Skills |
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| Seminar work |
| Competences |
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| Oral exam |
| Written exam |
| Seminar work |
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Recommended literature
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Crassidis, John L.; Junkins, John L. Optimal estimation of dynamic systems. 2nd ed. Boca Raton : CRC Press, 2012. ISBN 978-1-4398-3985-0.
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Groves, Paul D. Principles of GNSS, inertial, and multisensor integrated navigation systems. Boston : Artech House, 2013. ISBN 978-1-60807-005-3.
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Jekeli, Christopher. Inertial navigation systems with geodetic applications. 2001. ISBN 3-11-015903-1.
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Rogers, Robert M. Applied mathematics in integrated navigation systems. Third edition. 2007. ISBN 978-1-56347-927-4.
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