MAT-45806 Mathematics for Positioning TKT-2546 Methods for Positioning

Positioning techniques and algorithms have been studied for some years at the Tampere Univer-sity of Technology within several research groups. This course hand-out brings together the expertise of researchers of the TUT Department of Computer Systems and the TUT Department of Mathematics. The course is divided into two parts: MAT-45806 Mathematics for Positioning, that covers Sections 1–3, and TKT-2546 Methods for Positioning, Sections 4–5 (to be added during the spring). Our objective has been to collect together most important algorithms and mathematical tools used in positioning including examples and starting from the basics. We do not go into details of specialized techniques and equipments, but after this course student should be able to solve application dependent problems without having to “re-invent the wheel ” again and again. Prerequisites are first-year engineering mathematics and basics of probability. Additionally, the course TKT-2536 Introduction to Satellite Positioning is a useful but not compulsory prereq-uisite. There is no official course text book in addition to this hand-out, mostly because the authors have not managed to find a single book to cover all the material on the level of abstrac-tion we need. The battery of positioning computation methods is collected from different area