Satellite Navigation – Readings

Course subject(s) 01. Satellite Navigation – Introduction 02. GPS overview 03. GNSS Receivers 04. GPS measurements 05. GPS error sources 06. GPS error sources and position estimation 07. PVT and RAIM 08. Kalman filtering 10. Relative positioning 11. Long baselines, PPP, SBAS 12. Integrity and integer ambiguity resolution

On this page you can find the readings that should be studied for the lectures. The readings for this course consist of the book Global Positioning System, Signals, Measurement and Performance, which is mainly used, and handouts that are provided at the start of the lectures.

Global Positioning System, Signals, Measurement and Performance

This textbook offers a comprehensive introduction to GPS: the system, signals, receivers, measurements, and algorithms for estimation of position, velocity, and time. It is intended both as a textbook for a senior- or graduate-level engineering course and a self-study guide for science majors and practicing engineers.

The book is divided into four parts:

Part I introduces radionavigation and the basic framework for a global positioning system, including coordinate frames, time references, and satellite orbits.
Part II takes the student to the fruits of GPS: estimation of position, velocity, and time.
Part III discusses the ingenious structure of the GPS signals, and the signal processing steps required to extract the necessary measurements from these signals.
Part IV Addresses GPS receivers from acquisition and tracking to RFI.

References: Misra P. and Enge P. (2006). Global Positioning System, Signals, Measurement and Performance. Ganga-Jamuna Press. ISBN 0-9709544-1-7

(The book can be ordered at a reduced rate at the start of the course)

Lecture 1: Introduction

The introduction lecture of this course covers the first chapter of Misra and Enge.

Lecture 2: GPS overview

The readings for the second lecture in which an overview of the Global Position system is given, consist out of the sections 2.1, 2.2, 2.3, 4.4, chapter 3 and chapter 4 of Misra and Enge.

A assignment about this lecture is available in the Assigments section of this course.

Lecture 3: GNSS Receivers

There is an additional paper available about GPS receiver Archictecture and Measurements. The paper is written by Braasch and Van Dierendonck.

Readings_lecture_3_-_GPS_receiver_Architecture_and_Measurements

Lecture 4: GPS measurements

For the lecture on GPS measurements section 5.1 of Misra and Enge needs to be studied. There is also an assignment available on the assignments page.

Lecture 5: GPS error sources

For lecture 5 on GPS error sources, the sections 5.2 and 5.3 need to be studied. This weeks assignment available on the Assignment page.

Lecture 6: GPS error sources and position estimation

For lecture 6 on GPS error sources, the sections 5.3, 5.4, 5.5, 5.6, 5.7 and 6.1.1 need to be studied. The assignment for this lecture is available on the Assignment page.

Lecture 7: PVT and RAIM

Sections 6.1, 6.2.1, 6.2.2 and 6.3 need to be studied and read for this lecture.

Lecture 8 and 9: Kalman filtering

There are no readings about Kalman filtering in the book of Misra and Enge. The lecturer has provided 2 handouts that should be studied for this lecture. An assignment on Kalman filtering can be found on the Assignment page.

handout_-_double_integral_single_integral_acceleration

handout_-_Recursive_Blue_Derivation

Lecture 10 – Relative positioning

For this lecture the sections 5.8, 7.1, 7.2 and 7.3 in the book of Misra and Enge are to be studied.

Lecture 11 – Long baselines, PPP, SBAS

The book of Misra and Enge does not cover the topics that are discussed in this lecture. Therefore an additional paper is available which should be studied.

Quan Le, A.(2004) Achieving Decimetre Accuracy with Single Frequency Standalone GPS Positioning.ION GNSS 17th Internationa Technical meeting of the Satellite Division, 21-24 Sept. 2004, pp.1881-1892

Lecture 12 – Integrity and integer ambiguity resolution

The readings for this lecture are the sections 7.4, 7.5 and 7.6 are to be studied of Misra and Enge.

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