The purpose of this diploma thesis is testing motion of the device for GNSS antenna calibration according to added weight to the device’s transom. First part of this thesis is devoted to introduction into GNSS antenna calibration problematics. The thesis deals further with development of the software used to process photogrammetric images that have been taken during testing measurement. The rest of the thesis is focused to process and evaluate the measurement. The result will be implemented into observation model used during calibration measurement. The period, during the device is still, will be corrected according to the result that has been obtained from the measurement.

There are a number of global navigation satellite systems (GNSS), in use or planed, which are used for navigation on earth but also for autonomous navigation of satellites in low earth orbit (LEO). It would be desirable to also have autonomous navigation in geosynchronous earth orbit (GEO) to reduce costs and make it possible to get higher accuracy on the position of the satellite. One part of the navigation system is the GNSS antenna which is examined in this master thesis. The specifications of the antenna were first decided and then three antenna alternatives were investigated in greater detail: a monofilar helix antenna, a three element circular array antenna and a twelve element circular array antenna. The result was that they would all work as a GNSS antenna in GEO but none could be judged to be the best under all circumstances. The size requirement for the mission and the used GNSS receiver would primarily decide which fits the mission best. / Det finns ett antal världstäckande navigeringssystem (GNSS), i användning och planerade, som används för navigation på jorden fast också för autonom navigation för satelliter i låg bana runt jorden. Det skulle också vara önskvärt att använda autonom navigation för satelliter i geostationär omloppsbana (GEO) för att reducera kostnaden och få högre positions noggrannhet. En del av navigationssystemet är GNSS antennen vilken är undersökt i detta examensarbete. Specifikationerna för antennen bestämdes först och sedan undersöktes tre olika antennalternativ i detalj: en monofilär helixantenn, en tre elements cirkulär gruppantenn och en tolv elements cirkulär gruppantenn. Resultatet var att alla alternativen skulle fungera som en GNSS antenn i GEO-bana fast inget av alternativen är bäst i alla förhållanden. Storlekskraven för uppdraget och vilken GNSS mottagare som skall användas påverkar vilket av alternativen som passar uppdraget bäst.

The thesis is aimed at movement analysis and planning of a robotic device for absolute GNSS antenna calibration, which is developed at Brno University of Technology, Faculty of Civil Engineering, Institute of Geodesy. The first section is devoted to independent verification of the temporal synchronization of the robotic device’s movement, which is a prerequisite for the successful antenna calibration. The following section is focused on analysis of moveable characteristics since their knowledge is crucial for the following movement planning. Method of the device’s movement shooting by camera and evaluation its position based on gained photographs is used for both testing measurements. The final part is dedicated to movement planning, especially to calibrated antenna weighting influence on device’s movement characteristics, test results implementation into the observation program and arm movement planning considering the homogeneous calibration measurement layout.