ITSNT Tutorials

14 Nov 2016 - 14:00 - 17:30

If you're already planning on attending the International Technical Symposium on Navigation and Timing 2016, why not come a half a day earlier and take advantage of one of three tutorials below. The trainings' location will be the same as the ITSNT; in the premises of the Ecole Nationale de l'Aviation Civile.

Multi-Sensor Navigation - Focus on UAV Navigation

Asst.Prof. Demoz Gebre-Egziabher

University of Minnesota, USA


Some knowledge of mathematics (linear algebra and random variables) and computer science as well as basic navigation concepts will be useful.

Intended Audience

Engineers, scientists and managers. The course will give an overview of multi-sensor navigation systems for guidance and control of small unmanned aerial vehicles.


Guidance, Navigation and Control System Requirements for Small UAVs

  • Current and envisioned applications for small UAVs
  • Requirements for multi-sensor systems used on small UAVs (emphasis on requirements which are unique to small UAVs)
  • Survey of existing, off-the-shelf integrated navigation solutions

Multi-Sensor Fusion Algorithms

  • Overview of algorithms used for multi-sensor fusion in integrated navigation systems
  • Tradeoffs associated with each of the sensor fusion algorithms relative to the small UAV navigation
    • Kalman Filter and its non-linear variants (Extended- and Unscented Kalman Filter)
    • Bayesian estimators (maximum likelihood, maximum aposteriori and particle filter)
  • Centralized and federated architectures for implementing multi-sensor fusion algorithms
  • Hands-on MATLAB/Python examples

Case Studies of Multi-Sensor Navigation Systems

  • Attitude Heading Reference System (AHRS) for GNSS-denied operations
  • Model-aided multi-sensor algorithm to mechanize a synthetic air data system
  • Cooperative inertial navigation for a swarm of small UAVs in a GNSS-denied environment

Vision-Based Navigation

Prof. Stephan Weiss

Alpen-Adria-Universität, Austria


Some knowledge of mathematics and computer science as well as basic state estimation concepts will be useful.

Intended Audience

Engineers, scientists and managers. The course will benefit to attendees interested in understanding the fundamentals of visual odometry and SLAM and their application to different fields.


Visual Odometry

  • Camera as a motion sensor to compute the translation and rotation of a mobile system
  • Review of methods to compute the motion between two consecutive camera frames
  • Identification and characterization of salient [or distinctive] points
  • Outlier detection and rejection to improve the final motion estimation

Metric SLAM

  • Fundamentals of SLAM
    • filtering perspective
    • non-linear optimization perspective
  • Understanding the metric scale issue:
    • calibrated stereo camera rig
    • inertial readings in a monocular camera system (visual-inertial approach)
  • Analysis of SLAM on a mobile robot

Visual-Inertial Navigation for Resource Constrained Systems

  • Main research directions in visual-inertial motion estimators
  • Computational complexity and applicability on resource-constrained systems
  • Tightly and loosely coupled filter approaches
  • Self-calibrating power-on-and-go system

Multi-Frequency Multi-Constellation GNSS for Civil Aviation

Dr. Christophe Macabiau, Dr. Olivier Julien, Dr. Carl Milner

Ecole Nationale de l'Aviation Civile, France


Some knowledge of mathematics (linear algebra and random variables), signal processing and RF propagation, as well as basic state estimation, plus basic navigation concepts will be useful.

Intended Audience

Engineers, scientists and managers. The course will give an overview of the status of the different GNSS constellations, and of the current analyses for multi-frequency multi-constellation application to civil aviation.


Evolution towards Multi-Constellation Multi-Frequency (MC/MF) GNSS

  • Status of GNSS Constellations
    • Global systems: GPS, Galileo, GLONASS, BeiDou
    • Regional systems: QZSS, NAVIC
    • SBAS
  • Benefits and Challenges of MCMF for Civil Aviation

Dual-Frequency Multi-Constellation (DFMC) SBAS

  • Approach and Expected Benefits
  • Data-link message
  • Performance
  • Issues

Research on MC/MF GBAS

  • Single Constellation Single Frequency GBAS and its Issues
  • Challenges
  • European proposal

Advanced RAIM (ARAIM)

  • Reminders on RAIM
  • Approaches and Expected Benefits
    • Horizontal ARAIM (H-ARAIM)
    • Offline ARAIM
    • Online ARAIM
  • Integrity Support Message (ISM)
  • ARAIM Multiple Hypothesis Solution Separation (MHSS) reference algorithm
  • Performance

Upon the completion of the tutorial of your choosing, you will receive a certificate stating that you successfully completed the training

If you would like to register to one of the tutorials:

  1. Download the registration form to the ITSNT tutorials here
  2. Fill in your information (You can leave the "Ref" field empty)
  3. Send the filled document to
    • e-mail:
    • Ecole Nationale de l'Aviation Civile - Formation Continue, 7 Avenue Edouard Belin - CS 54005 - 31055 Toulouse, CEDEX 4
    • Fax:
  4. Pay the tutorial registration (200€ per tutorial)