Tag Archives: RTK

xxx P. Matějka, J. Kadeřábek and V. Shapoval
Measurement Robotic Arm (MRA) for the evaluation of localization sensors properties
Abstract |

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.

Key words:

, , , , , , , , , ,




749-757 J. Kadeřábek, V. Shapoval and P. Matějka
Evaluation of the RTK receiver’s capability of determination the accurate position
Abstract |
Full text PDF (745 KB)

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.

Key words:

, , , , , , ,