The course aims at introducing the leading-edge radio-positioning and radio-navigation technologies, based on the use of Global Satellite Navigation Systems (GNSS), as for example, the American Global Positioning System (GPS) and the European system Galileo. The course introduces the basic principles of positioning, describes the satellite systems and signals and focuses on the design of user receivers and on the signal processing stages. The course is taught in English.

Knowledge and understanding of the functional principles of satellite-based positioning and of the factors affecting the performance; Knowledge of the current satellite navigation systems and understanding of the design criteria; Knowledge of the format of the signals used for positioning purposes and ability to design signals suited to radio-navigation applications (modulations, codes and multiplexing techniques); Knowledge error sources and of the effect of propagation in free-space and atmosphere; Understanding of the error sources effects on the positioning performance; ability to use models in order to mitigate the effects of the biases on the receiver measurements; Knowledge and understanding of the user receiver's architecture focusing on the base-band digital signal processing stages, of the acquisition stage and of the tracking stage (use of Delay Lock Loop and Phase Lock Loop); Ability to design simple algorithms for acquisition and tracking of GNSS signals; Knowledge of the main applications of satellite-based positioning;

Principles of Signal Theory and Electrical Communications at a level corresponding to Laurea (BSC) in Electronics or Communications Engineering. Knowledge and understanding of spectral representation of signals. Knowledge of the principles of analogue to digital conversion and of digital signal processing. Understanding of features of modulations and of the reception of electromagnetic signals. Basic elements of applied electronics.

• Introduction to localisation and positioning techniques as well as radionavigation principles (6 hours): o Position estimation techniques based on direction of arrival, time of arrival, and differential time of arrival observations o Conical, spherical, hyperbolical methods o Positioning algorithms o The Geometrical Dilution of Precision • Uncertainty causes and error sources (6 hours) o Description of Error sources o Propagation issues o Link Budget and thermal noise o Error correction models • Basics of Reference Systems and Satellite Orbits (3 hours) o Reference frames o Satellite orbits o Time scales • Signal processing for radionavigation (6 hours): o Signal properties o Ranging codes generation o Signal modulations for radionavigation o Binary Offset Carrier modulation o Multiplexing techniques • System architcture of GPS and Galileo sysetms (3 hours) • GNSS receivers architectures (15 hours): o Front-end and A/D conversion o Acquisition of GNSS signals o Code and carrier tracking architectures o Pseudorange estimation o Multipath effects • GNSS Applications (4 hours): o Differential GNSS o Integration with communication systems and Assisted GNSS o Radio frequency interference issues • Classroom exercises on all the course topics (15 hours) • Laboratory activities for the implementation of a software GNSS receiver (20 hours)

The course includes theoretical lessons for introducing the basic concepts of positioning and the description of the system architectures. Classroom exercises guide the student in the application of the concept discussed in the theoretical lessons. The exercises aim at acquiring the ability to solve simple problems related to positioning systems and use of signal processing techniques in this field. Text of the exercises is provided to the students in advance and problems are solved in the classroom with proper explanations. The laboratory activity are based on the use of Matlab © software and concerns the implementation of a simplified architecture for the the processing of GNSS signals.

Reference books are: 1. Misra P., Enge P. Global Positioning System: Signals, Measurements, and Performance (II edition), Ganga-Jamuna press 2. Kaplan, E. D., Hegarty C.H. Understanding GPS: principles and applications (III edition), Artech House, Norhood, MA, 2018 3. Zekavat R., Buehrer R. M., Handbook of Position Location: Theory, Practice and Advances, Wiley-IEEE Press, 2011 4. Parkinson B., Spilker J. J. , Global Positioning System: theory and applications, Vol. I e Vol. II, American Institute of Aeronautics, 1996. 5. European Space Agency: http://www.navipedia.net/ The teaching material (slides used during the lessons, solutions of exercises, examples of written exams) will be made available by the class teacher on the didattica web portal.

Modalità di esame: Prova orale facoltativa; Prova scritta tramite PC con l'utilizzo della piattaforma di ateneo; Elaborato progettuale individuale;

The final exam aims at assessing both the achievement of the knowledge objectives and the ability to solve position estimation problems and to design algorithms for the GNSS signal processing. The final evaluation is based on an individual report of the lab activities, and on a written exam taken using the online tools and proctoring software. An oral exam might be requested by the student or, in some cases as a free choice of the teacher; the oral exam can influence the grade achieved in the written exam in a positive or negative way. The oral examination will take place through video-conferencing tool. The final grade (on a scale of 32) is obtained as the sum of the evaluation of the lab report (up to 5 points) and the written on-line exam (up to 27 points). Laude is achieved if the score of 32 is reached. The lab report must be delivered, following the modality that will be explained by the teacher during the classes and published on the course webpage, by the deadline associated with the exam booking on the web portal. The students shall deliver a written report (as a .pdf file) and the Matlab © code used to obtain the results. The exam will take place through the "EXAM" platform accessible through the link on your pages of the teaching portal. The application provides for identification and monitoring via webcam. The images recorded during the entire test will be available to teachers for the verification of any irregularities. The exam is made of TWO parts - Multiple choice test on the theoretical subjects - duration 30 minutes. The multiple choice test is made of 9 questions, each correct answer gives you 1 point, an incorrect answer produces a penalty equal to 0.33. On the other hand, an answer not given does not imply any penalty. - Exercises (up to 18 points) - duration 90 minutes. The exercisepart of the exam is enabled after the delivery of the first part. The exercise includes multiple questions that require a numerical solution or the delivery of a plot. The answer to each question, without solving steps, has to be included into the free text space. The solution, including the intermediate steps, has to be detailed on A4 sheets, together with name, surname, and student ID number. Before closing the exam, the platform will ask the student to acquire via webcam, using the appropriate functionality of the application, a picture of face and of the sheets used for solving the exercise.The image uploaded in this phase serves only as a counter-proof of the high quality image authentication referred to in the next point. Therefore, it need not be completely legible. At the end of the exercise, after having closed the exam, and within a time limit of 10 minutes, the students are required to upload a scan or a high resolution photo of the A4 sheets in the “Elaborati” or “Homeworks” section of the course page (.pdf format is preferred, but other formats are acceptable). The use of books and notes is not allowed. The students are allowed to use their own calculator. The exercises must be solved on the sheets, where the students shall put their name and student number. and that are uploaded on the page of the course. The optional oral exam can be requested by the student if the sum of the grades achieved for the lab report and the on-line exam is larger than 15. The oral examination usually takes place the same day in which the results of the on-line exam are published, or at most few days later. The oral exam will measure the acquired knowledge and the ability to apply the concepts learned, and it covers all the course subjects (theory, exercises and lab activities).

Modalità di esame: Prova orale facoltativa; Prova scritta tramite PC con l'utilizzo della piattaforma di ateneo; Elaborato progettuale individuale;

The final exam aims at assessing both the achievement of the knowledge objectives and the ability to solve position estimation problems and to design algorithms for the GNSS signal processing. The final evaluation is based on an individual report of the lab activities, and on a written exam taken using the online tools and proctoring software. An oral exam might be requested by the student or, in some cases as a free choice of the teacher; the oral exam can influence the grade achieved in the written exam in a positive or negative way. The oral examination will take place through video-conferencing tool. The final grade (on a scale of 32) is obtained as the sum of the evaluation of the lab report (up to 5 points) and the written on-line exam (up to 27 points). Laude is achieved if the score of 32 is reached. The lab report must be delivered, following the modality that will be explained by the teacher during the classes and published on the course webpage, by the deadline associated with the exam booking on the web portal. The students shall deliver a written report (as a .pdf file) and the Matlab © code used to obtain the results. The exam will take place through the "EXAM" platform accessible through the link on your pages of the teaching portal. The application provides for identification and monitoring via webcam. The images recorded during the entire test will be available to teachers for the verification of any irregularities. The exam is made of TWO parts - Multiple choice test on the theoretical subjects - duration 30 minutes. The multiple choice test is made of 9 questions, each correct answer gives you 1 point, an incorrect answer produces a penalty equal to 0.33. On the other hand, an answer not given does not imply any penalty. - Exercises (up to 18 points) - duration 90 minutes. The exercisepart of the exam is enabled after the delivery of the first part. The exercise includes multiple questions that require a numerical solution or the delivery of a plot. The answer to each question, without solving steps, has to be included into the free text space. The solution, including the intermediate steps, has to be detailed on A4 sheets, together with name, surname, and student ID number. Before closing the exam, the platform will ask the student to acquire via webcam, using the appropriate functionality of the application, a picture of face and of the sheets used for solving the exercise.The image uploaded in this phase serves only as a counter-proof of the high quality image authentication referred to in the next point. Therefore, it need not be completely legible. At the end of the exercise, after having closed the exam, and within a time limit of 10 minutes, the students are required to upload a scan or a high resolution photo of the A4 sheets in the “Elaborati” or “Homeworks” section of the course page (.pdf format is preferred, but other formats are acceptable). The use of books and notes is not allowed. The students are allowed to use their own calculator. The exercises must be solved on the sheets, where the students shall put their name and student number. and that are uploaded on the page of the course. The optional oral exam can be requested by the student if the sum of the grades achieved for the lab report and the on-line exam is larger than 15. The oral examination usually takes place the same day in which the results of the on-line exam are published, or at most few days later. The oral exam will measure the acquired knowledge and the ability to apply the concepts learned, and it covers all the course subjects (theory, exercises and lab activities).