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GPS data usability in mobile robot navigation problem
Novák, Pavel ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work is focused on problems of the GPS/DGPS receiver precision used by mobile robot for navigation in outdoor environment. The first part deals with theoretical analysis of GPS, description of it´s functions, errors and their influence on measurements accuracy. Second part deals with practical measurements performed at two locations with different types of obstacles restricting the view to the sky and using the refining methods of measuring the DGPS or so-called differential GPS. The last part of study presents the measured results and its analysis.
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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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Sattelite Navigation and Compasss Data Fusion
Maceček, Ivo ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
Theoretical information about different satellite navigation systems used for determination of position. Special attention is attended to system GPS. There are consulted main principles of the GPS and some error sources. Application of differential GPS for minimization of these errors is discussed. Next part is about examples of basic principles for measuring earth magnetic field. Last chaps are about practical realization of mentioned DGPS, which is applied for outdoor mobile robot navigation. There is described hardware structure, software utilities and application of an aided tool for GPS - electronic compass. Some practical measurements and results are presented.
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Position Improvement Using Differential GPS
Košťál, Jaroslav ; Hrubý, Martin (referee) ; Novotný, Tomáš (advisor)
The bachelor thesis describes techniques of precision of a position using a differential GPS. The theoretical part provides with basic terminology on classical and differential GPS and with a blueprint for implementation of the differential GPS. The aim of the practical part is the implementation of the blueprint per se using two suitable GPS modules with data processing on the station in real time and creation of a graphical interface. The final determining of the position should be more accurate than one using a classical GPS.
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Robot Navigation with Differential GPS
Doležal, Jan ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This bachelor's thesis describes the realisation of method for improving the accuracy of GPS navigation, so-called differential GPS, and its implementation in the form of a package for Robot operating system (ROS). A programming library RTKLIB, which deals with methods of increasing the accuracy of GPS navigation, is used in the package. Created solution was subjected to measurement of precision and accuracy of calculated position. This proved that the differential GPS method provides more accurate position coordinates and makes more sense for use on robots than conventional GPS.
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Minidarpa robot - senzoric subsystem
Sedlák, Luboš ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This master’s thesis describes a sensorial subsystem of a mobile robot. The thesis mentions the structure and a basis of the satellite navigation. There are also described each systems and visualization techniques as e. g. WGS 84, including also other systems for specification of more accurate position on the Earth (EGNOS, WAAS and others). This thesis describes closely also a differential GPS and the corrections. For the purposes of the thesis there has been assembled GPS software for a fundamental and a remote station. There have been chosen and used modules for receiving a GPS signal and wireless modules for their communication. There are also used outcomes from the project of the Open Street Map in the thesis. Results of this project are described in details, decoded, adjusted and converted into RNDF file. At the end of this thesis there has been composed a function of the program for portable camera which works on principle time of flight. This portable camera is dedicated to look for immediate barrier and also for 3D space view in front of the robot. This thesis also including the process how the power source has been built up for this portable scanner.
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GPS Navigation for Outdoor Robot
Maceček, Ivo ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
Differential GPS (DGPS) is system for getting position of an object. Describe principles DGPS, which is one of options for improvement GPS. It`s mentioning theory about several system design methods and detailed description of chosen solution. There are proposed some types of getting object bearing. These related topics are used in navigation software for outdoor robot.
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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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Position Improvement Using Differential GPS
Košťál, Jaroslav ; Hrubý, Martin (referee) ; Novotný, Tomáš (advisor)
The bachelor thesis describes techniques of precision of a position using a differential GPS. The theoretical part provides with basic terminology on classical and differential GPS and with a blueprint for implementation of the differential GPS. The aim of the practical part is the implementation of the blueprint per se using two suitable GPS modules with data processing on the station in real time and creation of a graphical interface. The final determining of the position should be more accurate than one using a classical GPS.
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Robot Navigation with Differential GPS
Doležal, Jan ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This bachelor's thesis describes the realisation of method for improving the accuracy of GPS navigation, so-called differential GPS, and its implementation in the form of a package for Robot operating system (ROS). A programming library RTKLIB, which deals with methods of increasing the accuracy of GPS navigation, is used in the package. Created solution was subjected to measurement of precision and accuracy of calculated position. This proved that the differential GPS method provides more accurate position coordinates and makes more sense for use on robots than conventional GPS.
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