Guidance and Navigation-AAE4203 (Jan 2022)
Undergraduate course, The Hong Kong Polytechnic University, Department of Aeronautical and Aviation Engineering, 2022
This is undergraduate level class delivering the content of GNSS positioning including the single point positioning (SPP), differential GNSS and real-time kinematic positioning. Also, the visual positioning is also introduced. The state estimation methods using Kalman filtering, factor graph optimization are also introduced. This lecture also include two tutorials and massive hand-writing examples to demonstrate the navigation technique for the autonomous systems. The Subject Description Form can can be found in AAE website.
Video Recording and Lecture Notes
Below is the list of the lecture notes and the video recordings of class AAE4203-Guidance and Navigation
| Lecture | Video Recording | Lecture Notes | Brief |
|---|---|---|---|
| Lecture 1: Fundermental concepts of navigation | Video Recording | Lecture notes | The concept of navigation and positioning, coordinate frame; the different methods of navigation |
| Lecture 2: Satellite Navigation-I (GNSS SPP, linear least squares) | Video Recording | Lecture notes | The position estimation using the GNSS pseudorange measurements |
| Lecture 3: Satellite Navigation-II (GNSS Doppler, linear least squares) | Video Recording | Lecture notes | The position estimation using the GNSS pseudorange measurements |
| Lecture 4: Satellite Navigation-III (GNSS RTK, DGNSS, linear least squares for RTK estimation)) | Video Recording | Lecture notes | The position estimation using the GNSS pseudorange measurements |
| Lecture 5: Visual Navigation: From Sensor to Modeling I)) | Video Recording | Lecture notes | The position estimation using the GNSS pseudorange measurements |
| Lecture 6: Tutorial on visual feature detection and tracking | N/A | N/A | Demonstration of the visual feature detection, tracking and matching using real image data |
| Lecture 7: Mid-term test | N/A | N/A | Quiz on week 1-6 subjects contents |
| Lecture 8: Visual Navigation: From Sensor to Modeling II)) | Video Recording-part I, Video Recording-part II | Lecture notes | The basic principles of visual matching, feature tracking, and visual positioning |
| Lecture 9: Tutorial on visual positioning | N/A | N/A | Demonstration of the visual odometry based positioning using real image data |
| Lecture 10: State Estimation: Factor Graph for Integrated Navigation I (Kalman filtering and inertial navigation) | Video Recording | Lecture notes | The basic principle of the Kalman filtering, modeling, least-square estimation. |
| Lecture 11: State Estimation: Factor Graph for Integrated Navigation II | Video Recording | Lecture notes | The basic principle of optimization with the Gauss-Newton algorithm. Application of the factor graph in GNSS positioning. |
| Lecture 12: Case Study Presentation | N/A | N/A | Self-learning on various topics on guidance and navigation |
| Lecture 13: Case Study Presentation | N/A | N/A | Self-learning on various topics on guidance and navigation |