Tag Archives: localization

1688–1704 P. Matějka, J. Kadeřábek and V. Shapoval
Measurement Robotic Arm (MRA) for the evaluation of localization sensors properties
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Measurement Robotic Arm (MRA) for the evaluation of localization sensors properties

P. Matějka¹*, J. Kadeřábek² and V. Shapoval²

¹Czech University of Life Sciences Prague, Faculty of Engineering, Department of Technological Equipment of Buildings, Kamýcká 129, CZ16500 Prague, Czech Republic
²Czech University of Life Sciences Prague, Faculty of Engineering, Department of Agricultural Machines, Kamýcká 129, CZ16500 Prague, Czech Republic
*Correspondence: matejkapavel@tf.czu.cz

Abstract:

The purpose of this longitudinal project is to verify the dynamic properties of the Real Time Kinematic receivers (‘RTK’). For this purpose, a verification method using Measurement Robotic Arm (‘MRA’) described in this paper has been developed. This device can be moved along a circular trajectory in a horizontal surface. Using the methodology described in this paper, the absolute position of the MRA trolley in absolute time can be defined with absolute accuracy and can serve as a reference for the verification of RTK receivers positioning. Its movement, including its breaking, can be controlled via a PC app and various sensor properties can be monitored. The position of the trolley is determined by the encoder. A Hall sensor indicates the absolute start position of one full turn. The absolute time marks of the measurement and the time synchronization of the microprocessor based on Pulse Per Second (‘PPS’) were obtained from the standard GNNS receiver. This study provides information about a proposal solution of the MRA reference system in terms of the frame construction description, the design of electronic equipment and the design of a software solution for processing and logging of messages. This paper also presents the results of three tests performed to verify the functionality and reliability of the MRA system: PPS time accuracy verification, the quantity and correctness of sent messages according to the arm instantaneous speed, and a real RTK verification test. The MRA also can be used to verify the dynamic properties of other localization devices.

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816–821 A. Sirotek and J. Hart
Possibilities of monitoring cattle via GSM and A-GPS
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Possibilities of monitoring cattle via GSM and A-GPS

A. Sirotek* and J. Hart

Czech University of Life Sciences Prague, Faculty of Engineering, Department of Technological Equipment of Buildings, Kamýcká 129, cz165 00 Praha 6 – Suchdol Czech Republic
*Correspondence: siroteka@tf.czu.cz

Abstract:

Nowadays, people and things can be localized using GNSS (Global Navigation Satellite System) or GSM technology. Devices using Differential Global Positioning Systems may not be suitable for they computing and energy intensity. The GSM and A-GPS systems have certain limitations and disadvantages. They are different in accuracy, energy intensity and therefore they are suitable for different applications. Trackers can’t be effectively used to locate animals, monitor their movements, and observe their behaviour. They can also be used to search for stolen pets and farm animals. Unguarded herds of cattle are often the target of thieves. For reasons of crime, localization was tested by devices using GSM and A-GPS technology. Specifically, the quality of these localization methods has been tested. Has been addressed above all, accuracy, reliability, speed and consistency of individual methods. In addition, further measurements were made. Localization has been tested in different well-defined environments. This makes it possible to judge the quality of individual localization technology and to suggest the best use of individual technologies and their link.

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749-757 J. Kadeřábek, V. Shapoval and P. Matějka
Evaluation of the RTK receiver’s capability of determination the accurate position
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Evaluation of the RTK receiver’s capability of determination the accurate position

J. Kadeřábek¹*, V. Shapoval¹ and P. Matějka²

¹Czech University of Life Sciences Prague, Faculty of Engineering, Department of Agricultural Machines, Kamýcká 129, CZ16500 Prague, Czech Republic
²Czech University of Life Sciences Prague, Faculty of Engineering, Department of Technological Equipment of Buildings, Kamýcká 129, CZ16500 Prague, Czech Republic
*Correspondence: jkaderabek@tf.czu.cz

Abstract:

The main aim of this experiment was to compare low-cost RTK receiver, that possible can be used for precise agricultural application, another that is currently used for these applications and the third one that suits for static measurement the most and gives the reference point for results comparison. The main idea of this research was to compare the measured positions during static measurement of RTK receivers. Were discovered that the receiver Trimble 750 was not able to work in fix mode (mode when the RTK receivers are capable to measure the most accurately) for the whole time. This fact affects the results from whole measurement and showed that errors were a little higher than producers specifies. The low-cost receiver u-Blox C94-M8P showed satisfying results when in most cases it was capable to solve the problem of ambiguity integer phases. The main parameters in this work that were counted and summarized were: accuracy, precision, RMS error, system status ratio and number of satellites.

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