NA5021 - Urban Positioning (HS, appli pedestrian, car)

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NA5021 - Urban Positioning (HS, appli pedestrian, car)


General objective:

At the end of this course, the student shall be able to:
- know the low SNR GNSS models and acquisition techniques,
- know hybridisation techniques specific to vehicle and pedestrian applications

Detailed objectives:

The objective of this class is to get the student familiar with the GNSS signal processing at lower signal power, and understand signal processing algorithms used to increase the sensitivity of a GNSS receiver

1. Standard GNSS signal processing overview
a. Acquisition
b. Transition
c. Tracking
2. High sensitivity signal processing
a. Receiver sensitivity
b. Acquisition probability
c. Tracking techniques and tracking

Vehicular and pedestrian applications
The objective of this class is to know the issues related to pedestrian and land vehicle positioning, depending upon the targeted localization environments, to be able to elaborate and appropriately tune Kalman filter based selected set sensors for integrated navigation with GPS.

1. Introduction to positioning issues
a. Environments (rural, urban, indoor)
b. Local effects
c. GNSS measurements quality
2. Data fusion for improved navigation
a. Systems and positioning methods
b. Positioning strategies
i. Loose and tight coupling
ii. Filter models elaboration
1. Mechanization reference frame
2. Error and direct models
iii. Measurements selection
1. Position domain
2. Pseudorange domain
3. Pedestrian navigation
a. Pedestrian navigation issues
b. Urban navigation: GNSS / Pedestrian Navigation System approach
c. Indoor navigation: GNSS / multi-sensors approach
4. Land vehicle navigation
a. Land vehicle navigation issues
b. Urban navigation: GNSS / multi-sensors approach
c. Road tolling applications


  • Lectures : 18
  • Supervised Work : 6
This course is part of the programme

In brief

ECTS credits : cf Teaching Unit

Number of hours 24



Phone : +33 5 62 17 42 73

Email : anais.martineau @

Olivier JULIEN

Phone : +33 5 62 17 42 65

Email : olivier.julien @