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Mobile App for Precise Navigation of Agricultural Machinery
Košák, Václav ; Bambušek, Daniel (referee) ; Herout, Adam (advisor)
The aim of this thesis is to develop a field navigation and GNSS system for precise localization. In the field, it is advisable to drive precisely along the lines to avoid repeated crossings or, on the contrary, free spaces. Driving accurately can save seeds, sprays, fuel, and more. Field navigation manages fields, machines, etc. The goal of the application is to navigate along generated guidance lines. In addition to the mobile application, a GNSS system has been developed to receive precise signals with RTK correction. Test results show that with an accurate receiver, the application can be practically used for everyday tasks.
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Analysis of inertial data from UAV
Žáček, Vítězslav ; Raichl, Petr (referee) ; Janoušek, Jiří (advisor)
This bachelor thesis focuses on the design of an unmanned aerial vehicle (UAV) attitude estimation system using inertial data and its processing in a robotic operating system (ROS2) environment. The theoretical part describes the principle of operation of the inertial measurement unit (IMU), including gyroscope, accelerometer and magnetometer, and their role in UAV stabilization and navigation. The practical part deals with the research and selection of suitable algorithms for attitude and orientation estimation, such as the Extended Kalman Filter (EKF) and the Fourati’s nonlinear attitude estimation.
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Indoor Positioning Based on Inertial Measurement Unit
Coufal, Marek ; Vychodil, Josef (referee) ; Král, Jan (advisor)
This bachelor’s thesis deals with inertial navigation intended for indoor usage. The algorithm for processing accelerometer and gyro data is described along with their position in equations of motion. Various coordinate systems are defined for ease of manipulation of vector quantities, including conversions and rotations between frames. The thesis also addresses the design of the hardware for the inertial unit, including the minimum requirements for fast data recording. Some chapters are dedicated to the design of the printed circuit board and the implementation of the device, followed by the development of firmware and software for data logging and processing.
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System for Support of Short-Term Car Rentals Based on Carsharing
Vrtal, Petr ; Bidlo, Michal (referee) ; Šimek, Václav (advisor)
The aim of this thesis is to create a system for the transformation of an ordinary passenger car into a vehicle capable of sharing in the form of short-term loans. Vehicle rentals are completely unattended, which was achieved by implementing service applications in the form of an administration and user tool. The administrative application was created using web technologies, primarily Next.js and React. The customer application was implemented with the goal of high portability, and therefore its development was directed to mobile platforms using the React Native framework and the Expo tool. The vehicle is equipped with its own designed IoT end device in the form of a printed circuit board, capable of permanent wireless connection to the network based on LTE-M technology and MQTT protocol. The purpose of this device is to provide current vehicle data obtained by reading communication on the CAN bus, connecting to a standard OBD-II diagnostic port. An important part of the work was the execution of a series of tests of all sub-aspects of the implemented architecture, focusing mainly on reliability, resulting functionality and user-friendliness. The resulting system was tested in real operation and represents a way of non-invasively transforming a regular passenger car into a car capable of sharing.
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Mapping survey of a purpose-built map of the sports field at ZŠ Pavlovská in Brno
Škarda, Václav ; Vondrák, Jiří (referee) ; Kuruc, Michal (advisor)
The bachelor's thesis deals with the tachymetric survey of the sports field of the Pavlovská elementary school in Brno, followed by the creation of a thematic map in the S-JTSK coordinate system and the Bpv elevation system. In addition, the work focuses on the determination of the parameters of the individual tracks and the definition of the start and finish lines on the skating oval for racing purposes. This work describes the location and the entire creation process from preparation to graphic editing.
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Survey and preparation of a large-scale map
Pošvic, Filip ; Nosek, Jakub (referee) ; Vondrák, Jiří (advisor)
The work deals with the creation of a thematic map of the Kamechy Sports Complex in Brno-Bystrc. The map is created at a scale of 1:250. The paper describes the measurement location, the instruments and methods chosen, and how and in which computational programs the measurement data was processed. The map also underwent accuracy testing. The resulting thematic map is produced in the JTSK coordinate system and the Bpv height system.
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Impact of ionosphere changes on GNSS signals reception
Navrátilová, Karolína ; Šplíchal, Miroslav (referee) ; Vosecký, Slavomír (advisor)
This thesis examines the impact of the ionosphere on the propagation of signals from Global Navigation Satellite Systems (GNSS). The ionosphere, characterized as an ionized layer of Earth's atmosphere, affects the propagation of electromagnetic waves in a way that can significantly degrade the accuracy of GNSS signals. The work describes the basic characteristics of the ionosphere, including its layers and the effects of solar and geomagnetic activity. In the practical part, data from measurements conducted on various days are analyzed, comparing the behavior of single-frequency and dual (GPS and GLONASS) receivers depending on ionospheric conditions.
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Measurement and creation of a large-scale map in the Zlobice locality
Hrabalová, Adéla ; Ježek, Jiří (referee) ; Vondrák, Jiří (advisor)
The main porpoise of this bachelor thesis is create a thematic map in the locality ofZlobice, which is located in the cadastre unit of Malhostovice. The content of this work is the whole process of creation, from terrain reconnaissance, through creating a survey net, detailed survey, calculation processing procedures, accuracy testing, to graphic processing. For the 3rd accuracy class was testing carried out according to the criteria specified in ČSN 01 3410. The result is a thematic map at a scale of 1 : 250, in the S-JTSK coordinate system and the Bpv height system.
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Visual-inertial odometry for UAV stabilization
Pintér, Marco ; Janoušek, Jiří (referee) ; Marcoň, Petr (advisor)
This master's thesis deals with the development of a system for estimating the position of an unmanned aerial vehicle in space without using GNSS (Global navigation satellite system). Visual and inertial data are employed for the position estimation of the unmanned aerial vehicle in space. The thesis describes various methods of determining the position using visual and inertial odometry. In the subsequent part of the thesis, the selection of a suitable camera sensor and onboard computer is discussed. The choice of an appropriate operating system, ROS (Robot Operating System) distribution, and a suitable algorithm for processing visual and inertial data is also described. To acquire telemetry data and basic control of an unmanned vehicle in space, a ROS node was implemented, which was tested in the Gazebo simulation environment with PX4-SITL. With the designed system experiments of comparing the accuracy of position determination against GNSS was done in real enviroment. From the achieved results, it can be concluded that visual odometry achieves very good results compared to GNSS.
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