Subject description - XP37RUP

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XP37RUP Radio determination of position, theory and practice, experience
Roles:S Extent of teaching:2P+2L+2D
Department:13137 Language of teaching:EN
Guarantors:Vejražka F. Completion:Z,ZK
Lecturers:Vejražka F. Credits:5
Tutors:Navrátil V., Svatoň J., Vejražka F. Semester:Z


The main aim of the subject is to acquaint a doctoral student with receiver position determination methods in systems using different measurements and position determination algorithms (least-squares methods ...) and with their accuracy. The student will study error magnitude derivation and will get information concerning the choice of compromises between convergence rates and precision. It will be revealed that massively used satellite navigation methods suffer from many deficiencies under real environment conditions. It will be shown how the impact of these weaknesses can be reduced by the assistance from other sensors based on radio as well as non-radio principles. Moreover, there are very prospective methods of positioning based on Signals of opportunity processing; they are included in the course, too. The student will verify the achieved results by individual laboratory project exploiting instrumental equipment like a signal generator with simulator of satellite signals and generators of communication signals (DVB-T, LTE). The acquisition of the equipment was supported by the development project OP VVV.

Course outlines:

1. Overview of radio positioning principles (RSS, ToA, TDoA, AoA), comparison of the approaches
2. Iterative least-squares solvers of ToA and TDoA sets of equations, convergence properties, solution accuracy, solution validation, concept of Dilution of Precision
3. GNSS – overview of operational systems and their signals, raw measurements and their errors
4. GNSS – processing of the raw measurements, navigation message, error compensation
5. DGNSS, RTK, PPP – use of carrier phase in GNSS measurement processing
6. Position filtering and data fusion, part I. – understanding Kalman filters (KF, EKF, UKF), observability
7. Position filtering and data fusion, part II. – designing Kalman filters, alternative methods (particle filtering).
8. Methods of GNSS fusion with IMU and Doppler odometer. Constraint application on data fusion.
9. UWB systems – Overview, hardware, and Two-way ranging measurements
10. UWB systems – TDoA measurements and positioning, synchronization
11. Overview of other navigation systems – Loran, Chayka, aeronautical navigation, etc.
12. Signals of Opportunity – correlation based signal processing (DVB-T, LTE)
13. Signals of Opportunity – Signal strength fingerprinting (WiFi, etc)
14. (reserve)

Exercises outline:


[1] Betz, J.W.: Engineering Satellite-Based Navigation and Timing. Signals and Receivers. Wiley, IEEE, Hoboken, 2016. ISBN 978-1-118-61597-3.
[2] Enge, P.; Misra, P.: Global Positioning System. Signals, Measurements, and Performance. Ganga-Jamuna Press.Massachusetts, 2004. ISBN 0-9709544-0-9.
[3] Sahinoglu, Z.; Gezici, S.; Guvenec, I,: Ultra-wideband Positioning Systems. New York, Cambridge University Press, 2018. ISBN978-0-521-87309-3
[4] Petrovski, I.: GPS, GLONASS, Galileo, and BeiDou for Mobile Devices. New York, Cambridge University Press, 2014.


Vysokoškolská matematika, zejména funkční řady a podmínky jejich konvergence. Fourierova transformace. Maticový počet. Základy šíření elektromagnetických vln.

Subject is included into these academic programs:

Program Branch Role Recommended semester
DOKP Common courses S
DOKK Common courses S

Page updated 16.6.2024 17:52:04, semester: Z,L/2023-4, Z/2024-5, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)