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Aplikace Galileo High Accuray Service
Kazmierski, Kamil ; Hadas, Tomasz ; Kudłacik, Iwona ; Marut, Grzegorz ; Madraszek, Szymon
Since January 2023 the Galileo High Accuracy Service (HAS) is available to registered users. Within the HAS users can retrieve clock and orbit corrections, as well as code biases for Galileo and GPS constellations. Galileo HAS covers almost the entire globe and is the next system, after the Japanese CLAS (Japanese Centimeter Level Augmentation Service) and the Chinese PPP-B2b, that provides corrections via a satellite signal. These Galileo corrections are transmitted in the Galileo E6 signal but also via the Internet stream. The official HAS Service Definition Document indicates that the positioning accuracy is better than 25 cm and better than 30 cm for horizontal and vertical components, respectively. HAS corrections can be used in difference real-time applications without Internet connection. The presented work shows the use of Galileo HAS corrections in various geoscience applications such as positioning, timing, troposphere monitoring or coseismic vibrations detection. Additionally, the quality of the transmitted HAS correction is also verified using the SISRE parameter. The computations are carried out in the in-house developed GNSS-WARP software with the Internet HAS corrections saved in the ASCII files by the BKG Ntrip Client software. The Galileo HAS corrections quality using SISRE parameter equal to 8.6 cm and 13.0 cm for GPS and Galileo respectively. The experiment with Precise Point Positioning reveal sub-decimeter and centimeters accuracy in kinematic and static approach, respectively. In terms of timing precision Galileo HAS ensure precision of single nanosecond. Zenith Tropospheric Delay estimation with the use of evaluated corrections meet the requirement of troposphere monitoring and coseismic vibrations detection was also possible.
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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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Presentations Making Blender add-on
Telmanik, Ronald ; Milet, Tomáš (referee) ; Chlubna, Tomáš (advisor)
Cieľom tejto práce je vytvoriť nástroj, ktorý umožní používateľom programu Blender vytvoriť prezentáciu vo forme snímkov. Tento proces je zvyčajne časovo náročný spôsobené najme komplexnosťou program Blender. Preto na uľahčenie tohto problém je vytvorené rozšírenie pre program Blender. Toto rozšírenie implementuje sadu nástrojov, ktoré uľahčia tvorbu a neskôr aj samotnú prezentáciu v reálnom čase. Finálny zdrojový kód rozšírenia je voľne dostupný na platforme GitHub.
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Real Time Suppression of Atmospheric Turbulence
Macků, Jiří ; Orság, Filip (referee) ; Marvan, Aleš (advisor)
This paper deals with removing undesirable image deformations caused by turbulences of Earth's atmosphere. The goal is to design and implement algorithm for suppression of atmosphere turbulence in video sequences to use in long-distance camera monitoring system. This paper also focuses on optimization of existing algorithms for running in real-time. Algorithm will be implemented in C++ programming language with use of library for computer vision OpenCV.
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Depth-Based Determination of a 3D Hand Position
Ondris, Ladislav ; Tinka, Jan (referee) ; Drahanský, Martin (advisor)
Cílem této práce je určení kostry ruky z hloubkového obrazu a jeho následné využití k rozpoznání statického gesta. Na vstupu je hloubkový obrázek, ve kterém je nejprve detekována ruka pomocí neuronové sítě Tiny YOLOv3. Následně je obrázek zbaven pozadí a z takto předzpracovaného obrázku je určena kostra ruky v podobě 21 klíčových bodů neuronovou sítí JGR-P2O. K rozpoznání gesta z klíčových bodů ruky byla navržena technika, která porovná kostru na vstupu s uživatelem definovanými gesty. Funkcionalita systému byla otestována na vytvořeném datasetu s více než čtyřmi tisíci obrázky.
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Firmware for the Robotic Vehicle
Otava, Lukáš ; Sojka,, Michal (referee) ; Kučera, Pavel (advisor)
This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.
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MIL real time simulation of electrical motors
Bartík, Ondřej ; Veselý, Libor (referee) ; Blaha, Petr (advisor)
The goal of this thesis is how to implement the two different types of the electric alternate motors in ZYNQ-7000 device for MIL real-time simulation purposes. The chosen types of motors are BLDC motor and AC induction motor. Mathematics models of these motor, the necessary changes for implementation purposes and the way how the models were implemented in ZYNQ-7000 device are described in this work. Three different experimental MIL simulation, using these motors ae described at the end of this thesis.
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Modelling and HIL Simulation of Vehicle Boot Door Control
Musil, Filip ; Matějásko, Michal (referee) ; Brablc, Martin (advisor)
This diploma thesis focuses on an analysis, a model creation and simulations of a car boot door mechanism. The problem was analyzed on the basis of real measurements made on three different vehicles. Based on the measurements, computational models describing the real system at different levels of complexity were created. Matlab/Simulink was used to create and calculate the models. The output of the thesis is the simulator of a car boot door which also includes simplified model of a control unit. The simulator should provide an approximation of current and kinematic quantities of these mechanisms. The model is implemented on dSPACE platform that allows real-time simulations. The simulator can be modified in terms of changing the parameters of the mechanism and modifying some of its results.
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Implementation of digital sound synthesizer in VST technology
Paukeje, Ján ; Schimmel, Jiří (referee) ; Mačák, Jaromír (advisor)
This thesis is focused on synthesis of audio signals and algorithm implementation by the help of technology designed for real-time processing. Analyzing individual methods of sound synthesis, the MIDI communication protocol and procedure of real-time signal processing. It is developed an appropriate software simulation ,on ground of studying these aspects, implemented by using C++ language. A result of this work is sound generator supporting MIDI protocol as a plug-in module designed for Windows platforms.
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