Integration of satellite navigation and other positioning technologies

Area Gestione Didattica
Servizio Formazione Superiore
Ufficio Master e Formazione Permanente
2.6 Integration between Satellite Navigation and other Positioning
Technologies
Module: 2.6
Period: Spring Quarter
Responsible: Letizia Lo Presti (Politecnico di Torino - DET)
Teachers: L. Lo Presti (Politecnico di Torino - DET)
Adjunct professor
Credits: 3
Total hours: ~30
Course Objectives
Lessons aim to provide basic elements for the understanding of the important issue of integration
among navigation systems and other positioning technologies.
The first part of the course is focused on the integration with inertial navigation systems (INS). The
basic concepts of INS technology are provided. The key point for GNSS and INS integration is the
Kalman filter, whose basic theory is provided in the course together with a brief description of the
INS-GNSS integration methods.
In the second part of the course positioning methods based on terrestrial communication systems
are considered. The course provides a background on the positioning strategies which can be
employed on the stand-alone terrestrial communication networks, and in particular some emerging
technologies, such as Wireless Ad-Hoc and Sensor Networks are addressed.
Course Syllabus
Part 1. Integration of different localization systems
♦ Localization with non-GNSS methods
♦ INS technology
♦ Accelerometer principles
♦ Navigation equation based on INS measurements
♦ Reference frame and frame mechanization
♦ The Kalman Filter
♦ GNSS-INS integration
Part 2. Localization in wireless ad-hoc and sensor networks
♦ Localization and synchronization in wireless ad-hoc sensor networks
An introduction to wireless ad-hoc sensor networks
Applications and technologies for wireless ad-hoc sensor networks
Examples of commercial wireless sensor networks platforms
Needs for localization and synchronization in wireless ad-hoc sensor networks
Area Gestione Didattica Servizio Formazione Superiore Ufficio Master e Formazione Permanente
Politecnico di Torino Corso Duca degli Abruzzi, 24 – 10129 Torino – Italia
[email protected] www.polito.it
Area Gestione Didattica
Servizio Formazione Superiore
Ufficio Master e Formazione Permanente
Solutions for synchronization of wireless ad-hoc sensor networks
Solutions for localization in wireless ad-hoc sensor networks
Examples
♦ Accuracy Bounds for Node Localization in Wireless Ad Hoc Sensor Networks
Estimation Bounds for Anchored and Anchor-less Range-based Localization with Gaussian
Measurement Errors
Cramer-Rao Bound for Anchored Localization with TOA, AOA or RSSI Measurements
Cramer-Rao Bound for Anchored Hybrid (TOA & RSSI, TDOA & RSSI Measurements)
Localization
Area Gestione Didattica Servizio Formazione Superiore Ufficio Master e Formazione Permanente
Politecnico di Torino Corso Duca degli Abruzzi, 24 – 10129 Torino – Italia
[email protected] www.polito.it