UAV Navigation and GNSS-Denied Operations

Lessons (16)

1. M2-T1GNSS fundamentalsLesson
2. M2-T2GPS, GLONASS, Galileo and BeiDouLesson
3. M2-T3GNSS receivers and positioningLesson
4. M2-T4GNSS errors and multipathLesson
5. M2-T5GNSS signal blockageLesson
6. M2-T6GNSS jamming and spoofingLesson
7. M2-T7Inertial Navigation SystemsLesson
8. M2-T8Dead reckoning and inertial driftLesson
9. M2-T9Vision-aided navigationLesson
10. M2-T10Visual OdometryLesson
11. M2-T11Visual-Inertial OdometryLesson
12. M2-T12Stereo visual odometryLesson
13. M2-T13LiDAR-aided navigationLesson
14. M2-T14LiDAR odometryLesson
15. M2-T15Radar-aided navigationLesson
16. M2-T16Multi-sensor GNSS-denied navigation architecturesLesson

Practical laboratories (7)

1. M2-L1Simulate GNSS signal lossInteractive simulation
2. M2-L2Implement visual feature trackingInteractive simulation
3. M2-L3Implement basic visual odometryInteractive simulation
4. M2-L4Compare monocular and stereo visual odometryGuided lab
5. M2-L5Compare IMU-only, VIO and LiDAR odometryInteractive simulation
6. M2-L6Analyze position driftInteractive simulation
7. M2-L7Build a GNSS-denied navigation architectureInteractive simulation

Used in capstones

• Capstone 1: Vision-Aided Autonomous UAV
• Capstone 2: LiDAR-Inertial GNSS-Denied UAV
• Capstone 4: Complete GNSS-Denied Autonomous UAV