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Precise Positioning of Railway Primary System Using Gnss Technology in Operating Conditions
Bureš, Jiří ; Vystavěl, Ondřej
The paper deals with the analysis of the accuracy of the real-time GNSS measurement procedure used in railway operating conditions. The accuracy achieved in operating conditions is compared with the accuracy obtained on a calibration base using the same measurement procedure. The consistency between the accuracies of the primary system (satellite-determined) and the secondary system (terrestrially measured by the traverse method) is also discussed. The analysis includes the problem of residual inhomogeneities of the uniform transformation key when transformed to S-JTSK.
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Practical Aspects of Real-Time Kinematic Measurements With Topcon Hiper+ And Trimble SPS855 Receivers in the CZEPOS And TOPNET Networks
Kostelecký, Jakub
The Real-Time Kinematic method is the most commonly used Global Navigation Satellite Systems (GNSS) method for positioning in geodetic practice. Within the framework of the article, the behavior of two GNSS devices Topcon HiPer+ and Trimble SPS855 during positioning by RTK method using corrections provided by networks of permanent stations CZEPOS and TopNet is assessed. Specifically, the use of 4 types of corrections from the CZEPOS network and 4 types of corrections from the TopNet network were evaluated. The behavior of the devices is assessed both according to the time required to perform the initial initialization and the time required to average the measurement result, and also according to the RMS (root mean square) error of the vertical component of the position. The evaluation found that the Trimble SPS855 fixed faster than the Topcon HiPer+ (3.6 minutes vs. 5.7 minutes). The averaging time is slightly shorter with the Topcon HiPer+ apparatus than with the Trimble SPS855 apparatus (30 seconds vs. 37 seconds), which is mainly related to the intuitiveness of the control software in the controller. Overall, it is stated that the Topcon HiPer+ equipment is more suitable for corrections from the TopNet network, and the Trimble SPS855 equipment works better with corrections from the CZEPOS network.
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Real-time propojení senzorů pro navigaci
Kaczmarek, Adrian ; Rohm, Witold ; Klingbeil, Lasse ; Tchórzewski, Janusz
The development of satellite techniques in the field of precise positioning and the availability of mobile devices with a built-in multi-GNSS (Global Navigation Satellite System) receiver allow us to determine positions with better accuracy than a dozen or so years ago. At the same time, there is a growing demand from users for more and more accurate positioning while reducing the costs of the final device (e.g., a navigation system for autonomous lawn mowers). This work presents the concept of a solution that integrates different positioning techniques: gyroscopes, odometers, and GNSS using a loosely coupled Kalman filter. The sensor integration model was developed for horizontal components (2D) with simultaneous determination of azimuth and precise position. Additionally, the integration filter uses a dynamic weight matrix, the values of which are selected depending on the type of GNSS solution (FIX, FLOAT, etc.). Tests of the measurement platform were carried out under ideal conditions and in places where the horizon is obscured (passes along a high wall, under openwork steel trusses, etc.). The accuracies obtained during tests using EKF and the dynamic weight matrix are RMS 0.019 m for the North and East components. However, the accuracy of the azimuth determination was 0.59°. In addition, the presentation will present a platform concept that integrates low-cost sensors in real time.
This work was supported by Wroclaw University of Environmental and Life Sciences (Poland) under the project “POMOST” (grant no. N110/0002/22).
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Accuracy of Real Time Kinematic Method in Building of Geodetic Control
Nosek, Jakub ; Kuruc, Michal (referee) ; Bárta, Ladislav (advisor)
The aim of this bachelor thesis was to evaluate the accuracy of the RTK method in the creation of point fields. The RTK-measurement was carried out near the Faculty of Civil Engineering, Technical University in Brno, and near Jedovnice, by using the CZEPOS network and the Trimble VRS Now Czech network. These two locations have made it possible to assess the effect of receivers distance to the reference stations on measurement accuracy. At each point, two continuous coordinate records were executed by the RTK method after 10 seconds during 10 minutes. The graphs were compared to the coordinate differences of the pairs of independent measurements. The results of the RTK method were tested against the reference values determined by the common equalization of the measurement results of the fast static method and the terrestrial measurements by the total station using the LSM. The bachelor thesis also includes a comparison of the results of the transfer of spatial coordinates ETRF2000 to S-JTSK using precise global transformation performed by several transformation programs.
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Hybrid module for industrial localization
Sedláček, Petr ; Fuchs, Michal (referee) ; Kubíček, Michal (advisor)
Tato diplomová práce si klade za cíl návrh hybridního lokalizačního zařízení, které je schopno lokalizace uvnitř i vně budov. Lokalizace uvnitř budov je dosažena pomocí technologie Ultra Wideband a venkovní lokalizace je provedena pomocí kombinace technologie RTK GNSS a PPP pomocí open - source softwaru zvaného RTKLIB. První část textu se zaměřuje na vysvětlení používaných technologií a výběr nejpřesnější technologie pro venkovní lokalizaci. Druhá část se zaměřuje ma vývoj potřebného hardware a software finálního zařízení a na integraci systému pro venkovní lokalizaci do systému pro lokalizaci vnitřní. Výstupem práce je plně funkční zařízení, které je schopné plynulé lokalizace uvnitř i vně budov. Funčnost celého zařízení je dokázána na finálních testech uskutečněných ve vnitřních i venkovních prostorách. Na závěr také práce zmiňuje možná vylepšení celého zařízení, která mohou být v budoucnu provedena.
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Differential GPS
Lebó, Denis ; Hrubý, Martin (referee) ; Rozman, Jaroslav (advisor)
My thesis studies the navigational technology for determining the current location of an object -- differential global navigational system (DGPS) with real-time kinematic (RTK) enhancement. The use of this technology is calculating the position of an object in real-time using two GNSS recievers. These recievers are used to acquire positional information from GNSS satellites (GNSS technology), which is then made more precise by the exchange of information between the recievers(DGPS/RTK technology). The thesis also provides a way to visualize the acquired location and provides a channel of communication for the GNSS recievers using the internet. The channel of communication will be provided by the program SNIP made by SubCarrier Systems. The correctional data from the GNSS recievers will be transmitted using the NTRIP (Network Transport of RTCM via Internet Protocol) protocol. For the creation of the website the web application framework Flask, written in Python, was chosen. For the visualization of the acquired location the Mapy.cz platform with use of the application programming interface developed by Seznam.cz for this platform -- Mapy API was chosen.
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The Evaluation of RTK method precision
Horák, Aleš ; Volařík, Tomáš (referee) ; Kuruc, Michal (advisor)
The aim of this diploma thesis was to evaluate a precision of spatial position of chosen services from Czepos and TopNET providers. The chosen services were virtual reference station generated by MAC concept from Czepos provider and virtual reference station NVR3 from TopNET provider. Testing measurement was measured by RTK method with GNSS instrument from Leica System 1200. There were measured long-standing observations which lasts 24 hours and short observations which lasts five and twenty seconds. The short observations were measured at five points in area of Brno. Result of the thesis is comparisons of precisions in position and height.
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Observation of educational control framework in Björnson park in Brno
Andraško, Matúš ; Vondrák, Jiří (referee) ; Machotka, Radovan (advisor)
The bachelor work deals with control framework, which was made for education and training students VUT faculty of civil engineering in Brno. This point field was surveying by GNSS method, which was enough for its purpose. Our task was specify this control framework by combination of terestric and satellite methods. Documentation of this task involves tables of coordinates in positional system S-JTSK and altitudes in system Bpv and geodetic sketch of control framework.
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Measurement of GNSS receiver accuracy
Čepl, Miroslav ; Gábrlík, Petr (referee) ; Jílek, Tomáš (advisor)
In this thesis a new method of determining an accuracy of a GNSS receiver is presented. First, a research of basic GNSS systems and a description of receiver accuracy is performed. Subsequently, the method of measuring the accuracy with the focus on RTK mode is proposed. A measuring jig is designed and manufactured. After verifcation of jig accuracy, a measurement of three dierent antennas is performed for subsequent comparison of basic characteristics. The work also contains instructions for operating the measuring jig.
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