Autonomous Vehicle Positioning Systems     


I.D.# C1026Printable Description
Duration: 1 Day

This seminar addresses vehicle positioning and navigation systems. The first part of the seminar provides an overview of the Global Positioning System (GPS) since it is the main location technology enabler for automotive location-based applications. The following topics will be discussed: coordinate reference frames, satellite constellation, signal structure, ranging observables, ranging error sources, error mitigation techniques, position velocity and timing (PVT), accuracy and availability for different modes of positioning that include open-loop, differential GPS (DGPS), real-time kinematic GPS (RTK), GPS dead-reckoning, augmentation of GPS with wheel speed sensors, inertial measurement units and compasses. Sensor fusion using a Kalman filtering technique will be included. GPS accuracy and availability performance in automotive driving environments, GPS vehicle installations (antenna, RF cable and GPS receiver), and bench-level and vehicle-level methods to evaluate GPS will be covered. An introduction to automotive navigation systems will be presented. Topics such as map database sources, route guidance calculations, and graphical user interfaces will be covered.

Learning Objectives
By attending this seminar, you will be able to:

  • Specify the performance of GPS receivers and navigation systems
  • Evaluate the performance of GPS receivers and navigation systems
  • Integrate the GPS with other sensors via a Kalman filter to improve navigation availability
  • Select the appropriate implementation of a vehicle navigation system based on your application requirements

Who Should Attend

This course is appropriate for engineers or managers who want a better understanding of the technologies involved in vehicle to vehicle and vehicle to infrastructure applications. Those interested in wireless communications application to vehicular environments, vehicle positioning systems used for connected vehicles, vehicular software architectures and security, and vehicle system applications such as active safety as they apply to automotive/commercial vehicles will find this course useful.

Other professionals who will benefit from this course include: managers seeking to evaluate technology/ regulation/standardization/business trends; fleet operators looking to increase business productivity, better manage their assets, meet regulatory requirements more efficiently, and improve asset utilization; business stakeholders involved in controlling/exploiting data transmitted from/to vehicles; those involved with autonomous/unmanned vehicles; and professionals interested in the perspective that the mobility, data security, and safety aspects of connected vehicle systems can enhance the reliability and control of driver-assisted vehicles.

Topical Outline

  • Overview of GPS and Navigation Systems
    • Coordinate reference frames
    • GPS Satellite Constellation
    • GPS signal structure
    • Code and carrier ranging observables
    • GPS ranging error sources and mitigation techniques
    • Position accuracy dependence on satellite geometry and range error
  • GPS Modes of Positioning
    • Open Loop GPS positioning with C/A code
    • Differential GPS carrier phase positioning with C/A code
    • Kinematic GPS positioning with C/A code and/or L1/L2 carrier phase
    • GPS performance examples in typical automotive environments
  • GPS/INS Integration for Vehicles
    • IMU modeling and vehicle dead-reckoning errors
    • Introduction to the Kalman filter
    • Ground vehicle dynamics
    • Ground vehicle models
    • Estimation of vehicle navigation states
    • Estimation of vehicle parameters
    • GPS/INS simulation examples
  • GPS Integration with other sensors
    • Digital Compass
    • LIDAR
    • UWB
    • Wheel speed sensors
    • Application examples

Instructor(s): Daniel N. Aloi, Ph.D. and Ka C. Cheok, Ph.D.

Daniel N. Aloi, Ph.D., is an Associate Professor of Engineering and the Interim Chair at the Electrical & Computer Engineering Department, Oakland University, Rochester, MI. He received his B.S., M.S. and Ph.D. degrees in electrial engineering from Ohio University in 1992, 1996 and 1999, respectively. He has been employed at Oakland University since January 2002. Dr. Aloi was a Sr. Project Engineer at OnStar, Inc. (2000 - 2001) and a Visiting Assistant Professor at Ohio University (1999 - 2000). His research areas include applied electromagnetics and various areas of the global positioning system (GPS) in the automotive and aviation industries. Dr. Aloi has attracted in excess of $2.0M dollars in external funding as PI, authored over 45 technical papers and obtained 5 patents. He is an Associate Editor for the IEEE Transactions on Aerospace and Electronic Systems in the area of navigation and for the SAE International ® Journal on Passenger Vehicles: Electrical and Electronic Systems. He has also served as a key technical advisor to the Federal Aviation Administration's Satellite Program Office in regards to the Local Area Augmentation System, which is a proposed GPS-based landing for commercial aircraft.

Ka C. Cheok, Ph.D. is a Professor of Engineering at the Electrical & Computer Engineering Department, Oakland University, Rochester, MI. He conducts theoretical and experimental research in driver's assistance systems, navigation and guidance for autonomous unmanned vehicle systems and mobile robots, UWB tracking of multiple robots and assets. His work focuses on transition of R&D in intelligent systems, heuristics search, fuzzy logic, neural network and optimal control and estimation techniques into practical applications to smart mechatronics systems for the automotive and defense industries. Dr. Cheok has published over 40 technical journal articles and 100 conference papers. He is an Associate Editor for three technical journals and an organizer for the annual Intelligent Ground Vehicle Competition, and has served as a consultant Member on the US Army Science Board.

Fees: $810.00 ; SAE Members: $648.00 - $729.00

.7 CEUs
You must complete all course contact hours and successfully pass the learning assessment to obtain CEUs.

For additional information, contact SAE Customer Service at 1-877-606-7323 (724/776-4970 outside the U.S. and Canada) or at

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