University of Calgary
UofC Navigation


Two three-hour tutorials will be offered in parallel on the morning of Tuesday, October 13 from 9:00 to 12:00 AM. Registration for the tutorials is an option on the conference registration form. We would appreciate if you could register at the same time as you register for the conference so that we can arrange to have adequate classroom space, course materials, and refreshments available.

Tutorial 1: Personal Navigation with Handheld Devices

Instructor: Dr. Valerie Renaudin

Dr. Valerie Renaudin leads the Geopositioning Laboratory (GEOLOC) in the French research institute on Transport: IFSTTAR. Her research focuses on outdoor and indoor navigation using GNSS, inertial and magnetic data, especially for pedestrians. She holds an MSc degree in geomatics eng. from ESGT (France) and a PhD in computer, communication, and information sciences from EPFL (Switzerland). She was awarded the European Marie Curie Career Integration Grant for her smartWALK project. She was technical director at Swissat Company, developing real time localisation solutions using a permanent GNSS network and senior research associate at the University of Calgary (Canada).

Course Description:

This tutorial discusses the processing strategies developed for pedestrian navigation using handheld inertial mobile unit (IMU) and magnetometers. It starts with a background on traditional strap-down mechanization applied to inertial navigation system (INS). The limitations of this method and the features of pedestrian navigation are then discussed. It continues with a review of alternative strategies for mitigating the challenges related to the hand measurement point and low-cost sensors. Among them are 1) the dynamic lever arm between the navigation state and the hand and 2) rapidly changing dynamics. Strategies based on human walking biomechanical data are further discussed and illustrated with experimental data.

Tutorial 2: Introduction to GNSS

Instructor: Dr. Mark Petovello

Dr. Mark Petovello is a Professor in the Position, Location And Navigation (PLAN) Group at the University of Calgary. He has extensive experience with GNSS algorithm and receiver development as well as integration of GNSS with other sensors. He has authored over 100 navigation-related papers and is co-creator of several navigation-related software packages.

Dr. Petovello is a contributing editor of the GNSS Solutions column in Inside GNSS magazine and an associate editor of NAVIGATION, the Journal of the U.S. Institute of Navigation. He is currently serving as the Chair of the ION Alberta Section and is registered as a professional engineer in the province of Alberta, Canada.

Course Description:

This tutorial discusses the fundamentals of Global Navigation Satellite Systems (GNSS) for outdoor and indoor navigation. It begins with a review of basic GNSS concepts and primarily sources of measurement error. Different methods of processing GNSS data and the obtainable positioning accuracy of each are then discussed. Focuses then shifts to the challenge of GNSS navigation indoors or in environments where the received signal is degraded, such as urban canyons and under foliage. Some of the methods of addressing these challenges are then discussed with emphasis on different receiver architectures and integration of GNSS with other sensors. Real-world examples will be provide throughout, as appropriate.