A presente tese propõe uma metodologia de vídeo-mapeamento móvel georreferenciado a partir do desenvolvimento de protótipos que utilizam uma Interface de Geovisualização Multimídia para sincronizar o registro (em vídeo) de um local ou evento de interesse com a rota percorrida pelo veículo de inspeção (sobre mapa ou imagem), através da coleta de dados por sensores móveis: câmera digital, microfone, receptor GNSS e bússola digital. A interface permite a integração desses sensores com os atuais serviços de mapas digitais disponíveis na web. Sistemas como esse melhoram significativamente as análises temporais, a gestão e a tomada de decisão. A interface proposta e desenvolvida no presente trabalho é útil para muitas aplicações como ferramenta de monitoramento e inventário. Esta interface pode ser entendida como o componente visual de um sistema de mapeamento móvel ou como um sistema cartográfico alternativo ou complementar, para aplicações em que a precisão geométrica do receptor GNSS, na modalidade de navegação, é suficiente e sua acessibilidade, um fator competitivo. As aplicações desenvolvidas no presente trabalho foram duas: um sistema de monitoramento e inventário de placas de sinalização viária e um sistema de monitoramento de cheias/secas e inventário de propriedades na borda de reservatórios de hidroelétricas, ambos em pleno funcionamento. / This thesis proposes a methodology of geo-referenced mobile video-mapping from the development of prototypes that use a Geovisualization Multimedia Interface to synchronize the record (on video) of a place or event of interest to the route traveled by the inspection vehicle (on map or image), by collecting data from mobile sensors: digital camera, microphone, GNSS receiver and digital compass. The interface allows the integration of these sensors with existing digital maps available in web services. Systems such as this significantly improves the temporal analysis, management and decision making. The interface proposed and developed in this study is useful for many applications such as monitoring and inventory tool. This interface can be understood as the visual component of a mobile mapping system or mapping system as an alternative or complement, for applications in which the geometric precision of the GNSS navigation receiver is sufficient and its accessibility, a competitive factor. Applications developed in this study were twofold: a monitoring system and inventory road sign posts and a monitoring system of flood / drought and inventory of properties on the edge of hydroelectric reservoirs, both in full operation.

Submitted by JOSIANE SANTOS DE OLIVEIRA (josianeso) on 2018-11-29T11:27:18Z No. of bitstreams: 1 Reginaldo Macedônio da Silva_.pdf: 12568015 bytes, checksum: b7f2c89facf89b0186ab816497e38c2a (MD5) / Made available in DSpace on 2018-11-29T11:27:19Z (GMT). No. of bitstreams: 1 Reginaldo Macedônio da Silva_.pdf: 12568015 bytes, checksum: b7f2c89facf89b0186ab816497e38c2a (MD5) Previous issue date: 2014-08-11 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / PROSUP - Programa de Suporte à Pós-Gradução de Instituições de Ensino Particulares / O crescente avanço de novas tecnologias na área das geociências, como o posicionamento por GNSS, o mapeamento por GPR ou a geração de modelos tridimensionais com a técnica LIDAR permite a integração de técnicas de sensoriamento remoto em diferentes aplicações nas geociências. Para isso é necessário experimentar, testar e avaliar cientificamente o potencial de integração dessas diferentes tecnologias, de forma a explorar em sua plenitude os diferentes tipos de dados. A análise, descrição e interpretação de afloramentos são atividades corriqueiras dos trabalhos de campo geológicos. Apesar do avanço tecnológico das últimas décadas, a obtenção de dados quantitativos a partir do uso de instrumentos não se sobrepôs à tradicional forma de aquisição de dados pelos geólogos: a observação da rocha. Dessa forma, o estudo de afloramentos constitui uma fonte indispensável para a obtenção de dados intermediários entre as escalas megascópica (e.g., geologia regional) e microscópica (e.g., amostra), que por sua natureza são dependentes de aquisição por sensores remotos e instrumentos diversos. O principal desafio em pesquisas dessa natureza é integrar dados quantitativos e digitais, obtidos por instrumentos com diferentes princípios de aquisição e integrá-los aos dados qualitativos e analógicos obtidos pela subjetividade da percepção do geocientista. O objetivo deste trabalho foi analisar, testar e validar essa abordagem multidisciplinar para a modelagem de afloramentos considerando um estudo de caso real no Afloramento Morro Papaléo. Para tanto, considerou-se como premissa que o modelo geológico resultante da integração de dados de diferentes naturezas não tivesse erro posicional em ordem de grandeza superior à resolução espacial do sensor com maior limitação de amostragem. A integração de dados segundo procedimentos metodológicos adequados permitiu gerar um Modelo Digital de Afloramento (MDA) que tornou possível visualizar, medir e interpretar com exatidão a geologia a partir de uma representação geológica do objeto de estudo. A validação de campo foi realizada para assegurar que a qualidade da metodologia proposta pode ser utilizada nesse tipo de estudo. Quanto aos dados de subsuperfície, por meio de seções geofísicas, foi possível estabelecer correlações entre os dados obtidos com a técnica LIDAR, o que permitiu integrar dados de superfície e de subsuperfície. Portanto, com o estabelecimento do modelo 3D gerado numa base de dados consistente, calibrada e validada pode-se a qualquer tempo adicionar dados e incrementar o modelo de forma dinâmica. / The increasing advance of new technologies in the field of geosciences, such as GNSS positioning, mapping by GPR or the generation of three dimensional models with the LIDAR technique allows the integration of orbital and non-orbital remote sensing techniques for different applications in geosciences. Thus, it is necessary to experiment, test and scientifically evaluate the potential of integration of these different technologies in order to explore the different types of data. The analysis, description and interpretation of outcrops are daily activities of the geological fieldwork. Despite the technological advances in the last decades, the acquisiton of quantified data from instruments and sensors did not substitute the traditional source of data of the geologists: the observation of the rock. Thus, the study of outcrops is fundamental in the acquisition of intermediate data between the megascopic (e.g. regional geology) and microscopic scales (e.g., sample), quite dependent of acquisition by remote sensors and instruments. The main challenge in this type of research is to integrate quantitative digital data obtained by instruments and sensors based on different principles with qualitative, analogic data, obtained by the subjective perception of the geoscientist. The main purpose of this study was to analyze, test and validate this multidisciplinary approach to the modeling of outcrops considering a real case study in Morro Papaléo Outcrop. For this, it was considered as a premise that the geological model resulting from the integration of different data had not a positional error in an order of magnitude higher than the spatial resolution of the more limited sensor. The data integration using appropriate methodological procedures allowed generate a Digital Outcrop Model (DOM) which made it possible to view, measure and accurately interpret the geology from a 3D geological representation. The field validation was performed to ensure that the quality of the proposed methodology can be used in this type of study. Through geophysical sections was possible to correlate subsurface data with those obtained with the LIDAR technique, allowing data integration of surface and subsurface data. Therefore, with the establishment of the 3D model generated in a consistent database, calibrated and validated, at any time more data can be added to this dynamic model.

Plus de 70 % de la surface terrestre est recouverte par les mers et océans. Nombre de phénomènes tectoniques parmi les plus dévastateurs ont par ailleurs lieu en environnement océanique. On peut citer en exemple les zones de subduction, pouvant générer des mégaséismes associés à des tsunamis dévastateurs (Sumatra en 2004, Tohokuen 2011), mais aussi les failles décrochantes sous-marines. Dans de nombreux cas, les méthodes de géodésie spatiale ne permettent pas de discriminer entre un comportement bloqué ou asismique, les instruments étant situés trop loin de la zone potentiellement déformée par le processus tectonique. Il faut alors mettre au point de nouvelles techniques qui permettent de prolonger les réseaux d’observation classiques au large afin de cartographier la déformation sur l’intégralité de la zone. Cette thèse s’intéresse à deux méthodes de géodésie fond de mer permettant d’aider à l’évaluation du risque sismique. La première est la distancemétrie relative acoustique, avec comme zone d’application effective la mer de Marmara. Nos premiers résultats laissent supposer un comportement bloqué au niveau du segment de la faille nord-anatolienne immergé devant İstanbul. La seconde zone d’étude considérée est la subduction antillaise. L’échelle de travail nécessite une localisation des points observés dans un référentiel global. Nous étudions les phénomènes océaniques à considérer et détaillons une méthodologie dite GNSS/A (pour Acoustique), consistant en des interrogations acoustiques depuis une plateforme de surface précisément positionnée par GNSS, pour une future expérience de positionnement absolu au large de la Guadeloupe. / More than 70 % of the Earth surface is covered by seas and oceans. Several tectonic phenomena, among the most devastating, take place in ocean environment. For example, the subduction zones, which can generate mega-earthquakes associated with devastating tsunamis (Sumatra in 2004, Tōhoku in 2011), but also the underwater strike-slip faults. In many cases, methods of space geodesy cannot discriminate between a blocked or aseismic behavior, because the instruments are located too far from the area potentially deformed by the tectonic process. Thus, it is necessary to develop new techniques to extend conventional observation networks off-shore to map the deformation in the entire area. This thesis focuses on two seafloor geodesy methods, in order to assess the seismic risk evaluation. The first is the relative acoustic ranging, with an efective deployment of the Marmara Sea area. Our early results suggest a locked state at the segment of the North Anatolian fault of İstanbul. The second area considered is the Caribbean subduction. The working scale requires localization of the observed points in a global reference frame. We study ocean processes to consider, and detail a GNSS/A (Acoustic) methodology, consisting of acoustic interrogations from a precisely GNSS positioned surface platform, for a future absolute positioning experience of Guadeloupe.

En segmentation d’images, les informations de couleur et de texture sont très utilisées. Le premier apport de cette thèse se situe au niveau de l’utilisation conjointe de ces deux sources d’informations. Nous proposons alors une méthode de combinaison couleur/texture, adaptative et non paramétrique, qui consiste à combiner un (ou plus) gradient couleur et un (ou plus) gradient texture pour ensuite générer un gradient structurel utilisé comme image de potentiel dans l’algorithme de croissance de régions par LPE. L’originalité de notre méthode réside dans l’étude de la dispersion d’un nuage de point 3D dans l’espace, en utilisant une étude comparative des valeurs propres obtenues par une analyse des composantes principales de la matrice de covariance de ce nuage de points. L’approche de combinaison couleur/texture proposée est d’abord testée sur deux bases d’images, à savoir la base générique d’images couleur de BERKELEY et la base d’images de texture VISTEX. Cette thèse s’inscrivant dans le cadre des projets ViLoc (RFC) et CAPLOC (PREDIT), le deuxième apport de celle-ci se situe au niveau de la caractérisation de l’environnement de réception des signaux GNSS pour améliorer le calcul de la position d’un mobile en milieu urbain. Dans ce cadre, nous proposons d’exclure certains satellites (NLOS dont les signaux sont reçus par réflexion voir totalement bloqués par les obstacles environnants) dans le calcul de la position d’un mobile. Deux approches de caractérisation, basées sur le traitement d’images, sont alors proposées. La première approche consiste à appliquer la méthode de combinaison couleur/texture proposée sur deux bases d’images réelles acquises en mobilité, à l’aide d’une caméra fisheye installée sur le toit du véhicule de laboratoire, suivie d’une classification binaire permettant d’obtenir les deux classes d’intérêt « ciel » (signaux LOS) et « non ciel » (signaux NLOS). Afin de satisfaire la contrainte temps réel exigée par le projet CAPLOC, nous avons proposé une deuxième approche basée sur une simplification de l’image couplée à une classification pixellaire adaptée. Le principe d’exclusion des satellites NLOS permet d’améliorer la précision de la position estimée, mais uniquement lorsque les satellites LOS (dont les signaux sont reçus de manière direct) sont géométriquement bien distribués dans l’espace. Dans le but de prendre en compte cette connaissance relative à la distribution des satellites, et par conséquent, améliorer la précision de localisation, nous avons proposé une nouvelle stratégie pour l’estimation de position, basée sur l’exclusion des satellites NLOS (identifiés par le traitement d’images), conditionnée par l’information DOP, contenue dans les trames GPS. / Color and texture are two main information used in image segmentation. The first contribution of this thesis focuses on the joint use of color and texture information by developing a robust and non parametric method combining color and texture gradients. The proposed color/texture combination allows defining a structural gradient that is used as potential image in watershed algorithm. The originality of the proposed method consists in studying a 3D points cloud generated by color and texture descriptors, followed by an eigenvalue analysis. The color/texture combination method is firstly tested and compared with well known methods in the literature, using two databases (generic BERKELEY database of color images and the VISTEX database of texture images). The applied part of the thesis is within ViLoc project (funded by RFC regional council) and CAPLOC project (funded by PREDIT). In this framework, the second contribution of the thesis concerns the characterization of the environment of GNSS signals reception. In this part, we aim to improve estimated position of a mobile in urban environment by excluding NLOS satellites (for which the signal is masked or received after reflections on obstacles surrounding the antenna environment). For that, we propose two approaches to characterize the environment of GNSS signals reception using image processing. The first one consists in applying the proposed color/texture combination on images acquired in mobility with a fisheye camera located on the roof of a vehicle and oriented toward the sky. The segmentation step is followed by a binary classification to extract two classes « sky » (LOS signals) and « not sky » (NLOS signals). The second approach is proposed in order to satisfy the real-time constraint required by the application. This approach is based on image simplification and adaptive pixel classification. The NLOS satellites exclusion principle is interesting, in terms of improving precision of position, when the LOS satellites (for which the signals are received directly) are well geometrically distributed in space. To take into account the knowledge of satellite distribution and then increase the precision of position, we propose a new strategy of position estimation, based on the exclusion of NLOS satellites (identified by the image processing step), conditioned by DOP information, which is provided by GPS data.

Cette recherche vise à la modélisation 3D depuis un système de vision fisheye embarqué, utilisée pour une application GNSS dans le cadre du projet Predit CAPLOC. La propagation des signaux satellitaires en milieu urbain est soumise à des réflexions sur les structures, altérant la précision et la disponibilité de la localisation. L’ambition du projet est (1) de définir un système de vision omnidirectionnelle capable de fournir des informations sur la structure 3D urbaine et (2) de montrer qu’elles permettent d’améliorer la localisation.Le mémoire expose les choix en (1) calibrage automatique, (2) mise en correspondance entre images, (3) reconstruction 3D ; chaque algorithme est évalué sur images de synthèse et réelles. De plus, il décrit une manière de corriger les réflexions des signaux GNSS depuis un nuage de points 3D pour améliorer le positionnement. En adaptant le meilleur de l’état de l’art du domaine, deux systèmes sont proposés et expérimentés. Le premier est un système stéréoscopique à deux caméras fisheye orientées vers le ciel. Le second en est l’adaptation à une unique caméra.Le calibrage est assuré à travers deux étapes : l’algorithme des 9 points adapté au modèle « équisolide » couplé à un RANSAC, suivi d’un affinement par optimisation Levenberg-Marquardt. L’effort a été porté sur la manière d’appliquer la méthode pour des performances optimales et reproductibles. C’est un point crucial pour un système à une seule caméra car la pose doit être estimée à chaque nouvelle image.Les correspondances stéréo sont obtenues pour tout pixel par programmation dynamique utilisant un graphe 3D. Elles sont assurées le long des courbes épipolaires conjuguées projetées de manière adaptée sur chaque image. Une particularité est que les distorsions ne sont pas rectifiées afin de ne pas altérer le contenu visuel ni diminuer la précision. Dans le cas binoculaire il est possible d’estimer les coordonnées à l’échelle. En monoculaire, l’ajout d’un odomètre permet d’y arriver. Les nuages successifs peuvent être calés pour former un nuage global en SfM.L’application finale consiste dans l’utilisation du nuage 3D pour améliorer la localisation GNSS. Il est possible d’estimer l’erreur de pseudodistance d’un signal après multiples réflexions et d’en tenir compte pour une position plus précise. Les surfaces réfléchissantes sont modélisées grâce à une extraction de plans et de l’empreinte des bâtiments. La méthode est évaluée sur des paires d’images fixes géo-référencées par un récepteur bas-coût et un récepteur GPS RTK (vérité terrain). Les résultats montrent une amélioration de la localisation en milieu urbain. / This research deals with 3D modelling from an embedded fisheye vision system, used for a GNSS application as part of CAPLOC project. Satellite signal propagation in urban area implies reflections on structures, impairing localisation’s accuracy and availability. The project purpose is (1) to define an omnidirectional vision system able to provide information on urban 3D structure and (2) to demonstrate that it allows to improve localisation.This thesis addresses problems of (1) self-calibration, (2) matching between images, (3) 3D reconstruction ; each algorithm is assessed on computer-generated and real images. Moreover, it describes a way to correct GNSS signals reflections from a 3D point cloud to improve positioning. We propose and evaluate two systems based on state-of-the-art methods. First one is a stereoscopic system made of two sky facing fisheye cameras. Second one is the adaptation of the former to a single camera.Calibration is handled by a two-steps process: the 9-point algorithm fitted to “equisolid” model coupled with a RANSAC, followed by a Levenberg-Marquardt optimisation refinement. We focused on the way to apply the method for optimal and repeatable performances. It is a crucial point for a system composed of only one camera because the pose must be estimated for every new image.Stereo matches are obtained for every pixel by dynamic programming using a 3D graph. Matching is done along conjugated epipolar curves projected in a suitable manner on each image. A distinctive feature is that distortions are not rectified in order to neither degrade visual content nor to decrease accuracy. In the binocular case it is possible to estimate full-scale coordinates.In the monocular case, we do it by adding odometer information. Local clouds can be wedged in SfM to form a global cloud.The end application is the usage of the 3D cloud to improve GNSS localisation. It is possible to estimate and consider a signal pseudodistance error after multiple reflections in order to increase positioning accuracy. Reflecting surfaces are modelled thanks to plane and buildings trace fitting. The method is evaluated on fixed image pairs, georeferenced by a low-cost receiver and a GPS RTK receiver (ground truth). Study results show the localisation improvement ability in urban environment.

Orientador: João Francisco Galera Monico / Resumo: A tecnologia Global Navigation Satellite Systems (GNSS) tem sido amplamente utilizada em posicionamento, desde as aplicações cotidianas (acurácia métrica), até aplicações que requerem alta acurácia (poucos cm ou dm). Quando se pretende obter alta acurácia, diferentes técnicas devem ser aplicadas a fim de minimizar os efeitos que o sinal sofre desde sua transmissão, no satélite, até sua recepção. O sinal GNSS ao se propagar na atmosfera neutra (da superfície até 50 km), é afetado por gases hidrostáticos e vapor d’água. A variação desses constituintes atmosféricos causa uma refração no sinal que gera um atraso. Esse atraso pode ocasionar erros na medida de no mínimo 2,5 m (zenital) e superior a 25 m (inclinado). A determinação do atraso na direção inclinada (satélite-receptor) de acordo com o ângulo de elevação é realizada pelas funções de mapeamento. Uma das técnicas para o cálculo do atraso é o traçado de raio (ray tracing). Essa técnica permite mapear o caminho real que o sinal percorreu e modelar a interferência da atmosfera neutra sobre esse sinal. Diferentes abordagens podem ser usadas para obter informações que descrevem os constituintes da atmosfera neutra. Dentre as possibilidades pode-se citar o uso de medidas de radiossondas, modelos de previsão do tempo e clima (PNT), medidas GNSS, assim como modelos teóricos. Modelos de PNT regionais do Centro de Previsão de Tempo e Estudos Climáticos (CPTEC) do Instituto Nacional de Pesquisas Espaciais (INPE) apresentam-se como um... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Global Navigation Satellite Systems (GNSS) technology has been widely used in positioning, from day-to-day applications (metric accuracy) to applications that require high accuracy (few cm or dm). For high accuracy, different techniques may be applied to minimize the effects that the signal suffers from its transmission on the satellite to its reception. GNSS signal when propagating in the neutral atmosphere (from surface up to 50km) is influenced by hydrostatic gases and water vapor. The variation of these atmospheric constituents causes a refraction in the signal that generates a delay. This delay may cause errors of at least 2.5 m (zenith) and greater than 25 m (slant). The determination of the delay in the slanted direction (satellite-receiver) according to the elevation angle is performed by the mapping functions. One of the techniques for calculating the delay is raytracing. This technique allows us to map the actual path that the signal has traveled and to model the interference of the neutral atmosphere on it. Different approaches can be used to obtain information describing the neutral atmosphere constituents - temperature, pressure and humidity. The possibilities include the use of radiosonde measurements, weather and climate models (NWP), GNSS measurements, as well as theoretical models. Regional NWP models from the Center Weather Forecasting and Climate Studies (CPTEC) of the National Institute for Space Research (INPE) are a good alternative to provide atmospheri... (Complete abstract click electronic access below) / Doutor

Sverige har under lång tid haft flera olika koordinatsystem, både nationella och lokala. Nu genomförs en övergång till ett gemensamt koordinatsystem som kallas SWEREF 99. I Norrtälje kommun finns stomnät som är noterade i ett flertal olika koordinatsystem, med ursprung i tidigare förrättningar. Åtskilliga av dessa har dålig orientering i kända nationella koordinatsystem men däremot god inre noggrannhet. I detta arbete väljs 12 stomnät för transformation till SWEREF 99 18 00. Detta görs genom att passpunkter mäts in med GNSS-teknik. De inmätta punkterna används sedan för att transformera stomnäten som de är noterade i. Detta gör att i framtiden kan till exempel husutsättningar i de aktuella områdena utföras med enbart GNSS-teknik. Stomnäten som väljs finns på norra delen av ön Vätö i Norrtälje kommun. GNSS-utrustningen som används för att mäta in punkterna är Leica 1203 nätverks-RTK. De valda passpunkterna mäts in vid två tillfällen med minst 45 minuters mellanrum. Vid varje tillfälle görs 10 mätningar. Sedan beräknas medelvärdet av 20 mätningar. När alla punkter väl har mätts in görs transformationer från tre olika från-system till SWEREF 99 18 00. De tre från-systemen är RT 38 2,5 gon V, RT R09 0 gon och ett lokalt 1000/1000-system. Eftersom områdena som är noterade i RT 38 är dåligt orienterade gentemot varandra ger det dålig noggrannhet att transformera hela RT 38-området på en gång. Därför delas RT 38-området in i flera transformationsområden. När transformationen gjorts kontrollmäts fastighetsgränser i ett gränsområde där gränspunkternas koordinatsystem är osäkert. Avslutningsvis kontrollmäts en Rix 95-punkt med namnet Klockarängsberget (Rix 95-punktnummer: 119741) som finns på södra delen av Vätö. / During the last century different coordination systems have been used in Sweden. Today a common coordination system (SWEREF 99) is used. In the municipality of Norrtälje, core networks are listed in different coordination systems that are generated from different earlier missions. These networks normally have poor orientation in the known coordination system; however, the internal accuracy is used to be good. In this study, some of the core networks have been selected to be converted to SWEREF 99 18 00. The conversion has been done by measuring points using the GNSS technology, the measured points were then used to transfer the core network to SWEREF 99 18 00. This means that in the future, staking out a building in the area can be performed solely by GNSS technology. The chosen core networks are located on a part of the island Vätö in the municipality of Norrtälje. The GNSS equipment used to measure the points with was the Leica 1203 RTK network. The selected points were measured on two occasions with a gap between the occasions of at least 45 minutes. Ten repeated measurements have been done on each point to increase the accuracy. The average of these twenty measurements has been used for conversion. After the measuring process, the transformation has been done from three different off-systems to SWEREF 99 18 00. The three off-systems were RT 38 2.5 gon V, RT R09 0 gon and a local 1000/1000-system. Since the areas listed in the RT 38 were poorly oriented towards each others, poor accuracy was achieved during the transformation of the entire RT 38 field at once. Therefore, the RT 38 area has been divided into a number of transformations-areas. When the transformation had been done, control measurements were made on a Rix 95-Point entitled Klockarängsberget (Rix 95-point numbers: 119 741) located on the southern part of Vätö. In addition, control measurements were made of housing estate border area, where the border points were uncertain.

Nätverks-RTK (Real-Time Kinematic) är en metod för positionsbestämning med Global Navigation Satellite System (GNSS) i realtid. Metoden kräver att en driftledningscentral kan kommunicera med de GNSS-mottagare som använder referensstationsnätet, för att bland annat skicka ut korrigerade GNSS-data. I Sverige erbjuder SWEPOS, ett nät av fasta referensstationer, en tjänst för nätverks-RTK-mätning, som förväntas ge en mätosäkerhet på mindre än 15 mm i plan och 25 mm i höjd (över ellipsoiden) (med täckningsfaktorn k = 1 i bägge fallen). Den teknik som idag används av SWEPOS för att utföra positionsbestämning av GNSS-mottagare är Virtuell Referensstation (VRS). VRS kräver tvåvägskommunikation eftersom mottagaren skickar in sin absoluta position till nätverks-RTK-programvaran hos driftledningscentralen, var beräkningarna av korrektionsdata sker, innan de skickas tillbaka till mottagaren. Det finns ett annat alternativ som möjliggör envägskommunikation, nämligen nätverks-RTK-meddelande. Då sänds observationsdata, i form av korrektioner, ut till mottagaren som utför positionsberäkningarna. Syftet med det här examensarbetet var att undersöka nätverks-RTK-meddelande för GNSS-mottagare av tre olika fabrikat med avseende på initialiseringstider, mätosäkerhet, avståndsberoende från närmaste masterstation, och GLONASS-satelliters deltagande i positionsbestämningen. I studien ingick även att utföra några jämförande mätningar med VRS. Undersökningarna gjordes genom upprepade nätverks-RTK-mätningar med GNSS-mottagare från Leica Geosystems, Trimble och Topcon, på tre kända punkter sydöst om Gävle. Tre mätmetoder användes, nätverks-RTK-meddelande med automatiskt nät (tvåvägskommunikation) och statiskt nät (envägskommunikation), samt VRS. De tre mätpunkterna valdes så att avståndet, till den referensstation som användes som en så kallad masterstation, varierade. Studien visade att initialiseringstiderna skiljde mellan de tre mottagarfabrikaten. En anledning till detta var att varje mottagare ominitialiserades från olika lösningslägen. Generellt var mätosäkerheten något högre för statiskt nät. Mätosäkerheten var omkring 11 mm i plan och 19 mm i höjd med det automatiska nätet, samt 13 mm respektive 22 mm i det statiska nätet. Fabrikaten emellan, låg Leica och Trimble på samma nivå, medan Topcon hade ett generellt problem för det statiska nätet, vilket det inte fanns möjlighet att närmare utreda orsaken till. Resultatet visade även att mätosäkerheten påverkas av avståndet till använd masterstation. I några fall var dessa förhållanden linjära. Vid några tillfällen användes inte GLONASS-satelliter i positionsbestämningen. / Network RTK (Real-Time Kinematic) is a method of positioning with Global Navigation Satellite System (GNSS) in real-time. The method requires that a control centre can communicate with the GNSS receiver, which is using the reference station network, for example to send out corrected GNSS data. In Sweden, SWEPOS, which is a network of permanent reference stations for GNSS, offers a service for Network RTK measurement. This is expected to give an uncertainty of less than 15 mm in plane and 25 mm in (ellipsoidal) height (with the coverage factor k = 1 in both cases). The technology currently used by SWEPOS, to perform positioning of a GNSS receiver, is Virtual Reference Station (VRS). VRS requires two-way communication because the receiver submits its navigated location to the control centre, where the calculations of correction data are made, before they are sent back to the receiver. Another alternative is Network RTK messages which make use of one-way communication. Then the observation data are transmitted to the receiver, which performs determination of its position. The purpose of this thesis was to investigate the network RTK messages with GNSS receivers from three different manufacturers with regard to time to fix ambiguities, measurement uncertainty and its dependence on the distance from the master station, and GLONASS satellites presence in the positioning. Also included in the study was the performance of comparative measurements with VRS. The investigations were conducted through repeated network RTK measurements with GNSS receivers from Leica Geosystems, Trimble and Topcon, at three known points south-east of Gävle. Three methods were used, network RTK message with automatic and static networks, and VRS. The three measurement points were chosen so that the distance to the reference station that was used as the so-called master station, varied. The study showed that the time to fix ambiguities differed between the three brands. One reason for this was that each receiver was reinitialized from different steps in the initialization process. In general, the uncertainty in the measurement was slightly higher for the static network. The uncertainty was about 11 mm in plane and 19 mm in height with the automated network, and 13 mm and 22 mm respectively in the static network. Leica and Trimble were at the same level, while Topcon had general problems for the static network, which there was no possibility to closer investigate the reason for. The results also showed that the uncertainty is influenced by the distance to used master station. In some cases, this relationship is linear. On some occasions, GLONASS satellites were not included in the positioning.

GNSS-Messungen werden neben systembedingten Fehlereinflüssen vor allem von den Auswirkungen der Mehrwegeausbreitung und Signalbeugung insbesondere in der Empfangsumgebung dominiert. Verschiedene Dienste z.B. der Landesvermessungsämter haben deshalb ein primäres Interesse daran, die Auswirkungen der Effekte möglichst gering zu halten oder aber genau bestimmen zu können, um Korrekturwerte zu generieren. Mehrwege- und Beugungseffekte lassen sich besonders innerhalb von Netzstrukturen gut bestimmen. Liegen Sollkoordinaten aller Beobachtungsstationen vor gelingt dies auch in Echtzeit. In der vorliegenden Arbeit werden neben einer detaillierten Beschreibung der jeweiligen Einflussgrößen auch Möglichkeiten aufgezeigt, die genannten Effekte zu erkennen und Maßnahmen zur Reduktion der Auswirkungen auf das Meßergebnis zu ergreifen. Kern der Untersuchungen ist ein zweistufiges Modell zur Reduzierung von Mehrwegeeffekten in Echtzeit innerhalb von (Referenz-) Stationsnetzen durch Bestimmung von Korrekturwerten für originale und abgeleitete Meßwerte pro Epoche, Station und Satellit.

Beitrag zu GNSS anläßlich einer Festschrift zum 65. Geburtstag von Prof. Reinhard Dietrich.