Navigation Technology

Lecturers

Associate Prof. Associate Prof. Prof. Yuanxin Wu Associate Prof. Assistant Prof.
Xin Chen Di He Danping Zou Daniele Sartori

Satellite Navigation Wireless Localization Inertial Navigation Vision Navigation UAV Navigation
 Course Outline

Time Contents Lecturer

Satellite navigation principle, the introduction to global

Part 1:
satellite navigation system, the design of software satellite Prof. Xin Chen
Week 1 ~ 3
positioning receiver.
Classification of common wireless localization methods,
Part 2: the principles of angle-measurement-based, distance-
Prof. Di He
Week 4 ~ 6 measurement-based, energy-measurement-based
wireless localization methods
Part 3: Inertial navigation principle and navigation computation,
Prof. Yuanxin Wu
Week 7 ~ 9 Initial alignment and error analysis
Part 4: Vision coordinate system and Geometric Transformation,
Prof. Danping Zou
Week 10 ~ 12 Visual SLAM
Introduction to UAVs and principle of flights, UAV
Part 5:
mathematical modeling and equations of motion, UAV Prof. Daniele Sartori
Week 13 ~ 15
navigation, path planning and trajectory design

Week 16 Review Prof. Xin Chen

 Requirement and Evaluation

Require students more actively to get involved into this

course. Grasp not only the basic knowledge, but also
get an idea of the development trend of different
navigation techniques.

For each lessen, two thirds of the time are lectures, and
the rest are interactive question and answers.

For each part, there will be some exercises and design

home work. These work will be the base for final
evaluation.
Part 1.1 – Introduction to Satellite Navigation

Lecturer: Prof. Xin Chen

 Early navigation method – Celestial bodies

利用北斗七星定位

利用天空恒星定位和定时
 Early navigation tools

The astrolabe, historically used by astronomers and

navigators to measure the inclined position in the sky of a
celestial body, day or night. It can thus be used to identify
stars to determine local latitude (if given local time).
 Early navigation tools

A sextant is a navigation instrument that measures the

angle between an astronomical object and the horizon. The
estimation of the this angle is derived to obtain the latitude.
The angle along with the time can be used to calculate a
position line on a nautical chart, which can be used to
navigate.
 Early navigation tools

Compass

A compass is an instrument used for orientation. It

functions as a pointer to the magnetic north, the local
magnetic meridian. The magnetic field exerts a torque on
the needle. It was firstly invented as early as the Chinese
Han Dynasty (206 BC)
指南针的发明
 Inertial navigation device

Dead-reckoning navigation

Accelerometer
Gyroscope
Magnetometer
Radio navigation
Trilateration position method
Hyperbolic position method
Hyperbolic position method
Velocity estimation method – Doppler
Frequency
Terrestrial-based radio navigation system
Early satellite navigation system
早期的卫星导航系统
 Clock system development

日冕
蜡烛
香
沙漏…
弹簧
钟摆
精密弹簧
精密弹簧
石英
原子钟
Advance of atomic clock
GPS system
GPS Space segment：Satellites
GPS Space segment：Satellites
Satellite Sky plot
GPS satellite orbit parameters
GPS Control Segment
Control Station Functions
Communication between stations and satellites
User segment: receivers
Russian GLONASS system
GLONASS System
GLONASS Architecture
GLONASS Constellation
GLONASS Satellite
GLONASS Control Station
GLONASS Launchers
Galileo System
 Beidou System

 Beidou system was built since 2003.

 Firstly, Beidou testing system was
launched for technical validation.
 Since 2007, Beidou2 started being
built, and was fully finished in 2015.
Beidou2 system consists of about 15
satellites, including GEO, IGSO and
MEO satellites, and provides service
for mainly eastern Asia.
 Since 2015, Beidou3 system started
being built, which will provide global
service.
 Beidou Architecture

Space Segment
5 GEO satellites and 30 Non-GEO satellites

GEO Satellite

constellation MEO Satellite

 Beidou Architecture

Ground station
monitoring satellite status, and upload
navigation message。
 Beidou Architecture

User segment

北斗系统的用户终端
The end