110 http://isa.epfl.ch/imoniteur_ISAP/ itffichecours.txt?path=EPFL.Etu.FicheCours.HeaderFR itffichecours.txt?path=EPFL.Etu.FicheCours.GlobalNav_js fr 2026 2018328089 2018328089 2840683608 2840683608 1 0 Robotique, controle et systemes intelligents (edoc) EDRS !itffichecours.htm?ww_i_matiere=1499350407&ww_x_anneeAcad=2840683608&ww_i_section=2018328089&ww_i_niveau= 1696552884 1696552963 2025-2026 COURSE BOOKLET ENV-548 Sensor orientation Sensor orientation Lecturers Skaloud Jan Language of teaching English Cursus Environmental Sciences and Engineering(2025-2026, SIE - Master 2024)
Environmental Sciences and Engineering(2025-2026, SIE - Master 2025)
Robotics(2025-2026, MT_RO - Master 2024)
Robotics(2025-2026, MT_RO - Master 2025)
Robotics, Control and Intelligent Systems (edoc)(2025-2026, EDRS 2025-26)
Space Technologies minor(2025-2026, Mineur : Technologies spatiales 2025-26)
SemesterMand.OptionFilières
x
Ex
MA2, MA4xC
MA2, MA4xF
 Credits 4 Session Summer Workload 120h Exam Oral Number of positions Semester Spring Weeks 14 Hours 4 weekly
Courses 2 weekly
Exercises 1 weekly
Lab 1 weekly
Study planSemesterMand.OptionFilières
EDRS - Robotics, Control, and Intelligent Systems 2025-26x
Mineur : Technologies spatiales 2025-26Ex
Robotique 2025-26MA2xC
Robotique 2025-26MA4xC
Sciences et ingénierie de l'environnement 2025-26MA2xF
Sciences et ingénierie de l'environnement 2025-26MA4xF
Cursus Sem. Type
Environmental Sciences and Engineering MA2, MA4 Opt.
Robotics, Control and Intelligent Systems Opt.
Robotics MA2, MA4 Opt.
Space Technologies minor E Opt.
Summary Determination of spatial orientation (i.e. position, velocity, attitude) via integration of inertial sensors with satellite positioning. Prerequisite for applications related to remote sensing, environmental monitoring, mobile mapping, robotics, space exploration, smart-phone navigation, etc. Content

Lectures

  • Concept and principles.
  • Inertial and other reference frames.
  • Gyroscope and accelerometer technology.
  • Attitude parameterization and modeling.
  • Strapdown mechanization.
  • Initial alignment.
  • Random processes and noise models.
  • Bayes and Kalman Filters.
  • External aiding
    INS/GNSS integration and reliability.
  • Application to mobile mapping and remote sensing

     

    Labs
  • Estimating and characterizing sensor errors in synthetic and real data (practical lab / real instruments)
  • Determining trajectory from ideal and realistic inertial data
  • Witnessing inertial physics (practical lab / real instruments)
  • Performing Kalman Filtering with different motion models
  • Setting up loosely coupled INS/GNSS integration

     

 Keywords

Inertial sensors, platform orientation, sensor integration, Kalman Filtering, estimation, INS/GNSS, navigation

 Learning Prerequisites Recommended courses

Advanced satellite positioning, statistics, adjustment of observations

 Important concepts to start the course

basic signal processing, random processes, programmation in Matlab

 Learning Outcomes By the end of the course, the student must be able to:
  • Manipulate precise as well as low-cost inertial instruments.
  • Compute initial orientation from a real data.
  • Integrate inertial signals via simulations.
  • Predict orientation performance via covariance propagation.
  • Construct a model for a gyroscope or accelerometer.
  • Develop dynamic models for a particular scenario.
  • Implement Kalman Filter.
 Transversal skills
  • Collect data.
  • Make an oral presentation.
  • Use both general and domain specific IT resources and tools
 Teaching methods

Ex cathedra, exercises (part. in computer room), demonstrations

 Expected student activities

Active participation in the course and lab assignments, programmation of algoritms and self-control (debugging), study and presentation of one inertial-sensor technology .

 Assessment methods
  • During the semester (50%)
    • Midterm (20%)
    • Graded ex. (30%)
  • In session :
    • Oral exam (50%)
 Supervision Office hours No Resources Bibliography

Recommended literature via Moodle.

 Ressources en bibliothèque
  • Find the reference at the Libraryhttps://slsp-epfl.primo.exlibrisgroup.com/discovery/search?query=course_code,contains,%22ENV-548%202025-2026%22&tab=41SLSP_EPF_MyInst_and_CI&search_scope=MyInst_and_CI&vid=41SLSP_EPF:prod
 Notes/Handbook

Sensor orientation (polycop., ~100 pages), slides via Moodle.

 Moodle Link Sciences et ingénierie de l'environnement, 2025-2026, Master semestre 2 Environmental Sciences and Engineering, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
F optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
Sciences et ingénierie de l'environnement, 2025-2026, Master semestre 4 Environmental Sciences and Engineering, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
F optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
Robotique, 2025-2026, Master semestre 2 Robotics, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
Robotique, 2025-2026, Master semestre 4 Robotics, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
Mineur en Technologies spatiales, 2025-2026, Semestre printemps Space Technologies minor, 2025-2026, Spring semester Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Semestre printemps E ETE Spring semester E Mineur en Technologies spatiales MIN_TEC_SPACE Space Technologies minor MIN_TEC_SPACE
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
Robotique, contrôle et systèmes intelligents (edoc), 2025-2026 Robotics, Control and Intelligent Systems (edoc), 2025-2026 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Robotique, contrôle et systèmes intelligents (edoc) EDRS Robotics, Control and Intelligent Systems (edoc) EDRS
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1 Labo Lab Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Skaloud Jan 126005
Sciences et ingénierie de l'environnement SIE Environmental Sciences and Engineering SIE
1499350407 Sensor orientation Sensor orientation 4
Oral Oral Crédit Credits 4 Session été Session summer ETE ETE
20-FEB-26 105 5 13 2 GCD0386 GC D0 386 GC D0 386 LIP_COURS 20-FEB-26 45 5 15 1 GCD0386 GC D0 386 GC D0 386 LIP_EXERCICE 20-FEB-26 45 5 16 1 GCD0386 GC D0 386 GC D0 386 LIP_LABO BALISES_TEXTES BOOLEAN_Symbol BaliseJS_debut BaliseJS_fin Balise_debut Balise_fin FO_debut FO_fin HTML_debut HTML_fin JS_debut JS_fin BALISE_BOLD BOOLEAN_Symbol BaliseJS_debut \x5bb\x5d BaliseJS_fin \x5b\x2fb\x5d Balise_debut [b] Balise_fin [/b] FO_debut font-weight=bold FO_fin font-weight=normal HTML_debut <b> HTML_fin </b> JS_debut \x3cb\x3e JS_fin \x3c\x2fb\x3e BALISE_ITALIC BOOLEAN_Symbol BaliseJS_debut \x5bi\x5d BaliseJS_fin \x5b\x2fi\x5d Balise_debut [i] Balise_fin [/i] FO_debut font-style=italic FO_fin font-style=normal HTML_debut <i> HTML_fin </i> JS_debut \x3ci\x3e JS_fin \x3c\x2fi\x3e BALISE_RED BOOLEAN_Symbol BaliseJS_debut \x5bred\x5d BaliseJS_fin \x5b\x2fred\x5d Balise_debut [red] Balise_fin [/red] FO_debut color=#990033 FO_fin color=black HTML_debut <span style="color:#990033;"> HTML_fin </span> JS_debut \x3cspan style="color:#990033;"\x3e JS_fin \x3c\x2fspan\x3e BALISE_TAB BOOLEAN_Symbol BaliseJS_debut \x5btab\x5d BaliseJS_fin Balise_debut [tab] Balise_fin FO_debut [inline]=&#160;&#160;&#160;&#160;&#160;&#160;&#160;&#160; 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