The thesis deals with precision analysis, process optimization and repeatibility of GNSS-RTK measurements for surveying aplication. Measuring procedure, that enables determination of a spatial position with a permissible deviation less than 10mm, was tested based on previous published findings. The test procedure was tested on two sets of test measurements obtained during 27 h and 26 h observations in connection with CZEPOS. The results were later analyzed. The first set of measurements was measured by the RTK3-GG method (9 m and 60 km vectors) and computed by a network solution VRS3-MAX-GG. Both were in ideal conditions – ideal, not obstructed observational horizon and good availability of differential corrections. The second set was measured by RTK3-GG method (22 km and 62 km vectors) and computed by network solution VRS3-MAX-GG. Both were in adverse conditions - obstructed observational horizon and adverse availability of differential corrections. Precision analysis and design of appropriate filtering method and optimal measurement procedure were done based on the results obtained from the test measurements. Optimal measurement procedure was then tested by measurements in a three point network.

This thesis deals with the verification of global transformation key on densification points around Olomouc by selected GNSS methods. The work will be described in GNSS technology, its distribution, measurement methods and services. As part of this work is a description of networks of permanent reference stations. Next, become familiar with the creation of local transformation key to what is used and what is its significance. The measurement was carried out at points densification, described in a separate section. In this thesis is describes surveying methods and principles, the methods of measurement GNSS, equipment, as well as any specific regarding this issue. The result is a clear set of tables with measured values of GNSS equipment and coordinates ZhB, accuracy of the method used (standard deviations), graphical reporting, and comparing the results of the global and local transformation key.

Tato diplomová práce si klade za cíl návrh hybridního lokalizačního zařízení, které je schopno lokalizace uvnitř i vně budov. Lokalizace uvnitř budov je dosažena pomocí technologie Ultra Wideband a venkovní lokalizace je provedena pomocí kombinace technologie RTK GNSS a PPP pomocí open - source softwaru zvaného RTKLIB. První část textu se zaměřuje na vysvětlení používaných technologií a výběr nejpřesnější technologie pro venkovní lokalizaci. Druhá část se zaměřuje ma vývoj potřebného hardware a software finálního zařízení a na integraci systému pro venkovní lokalizaci do systému pro lokalizaci vnitřní. Výstupem práce je plně funkční zařízení, které je schopné plynulé lokalizace uvnitř i vně budov. Funčnost celého zařízení je dokázána na finálních testech uskutečněných ve vnitřních i venkovních prostorách. Na závěr také práce zmiňuje možná vylepšení celého zařízení, která mohou být v budoucnu provedena.

This thesis presents methods for robust precision landing of unmanned air vehicles (UAVs) on platforms at sea. Localization methods are proposed for UAV-to-boat state estimation for systems that employ real- time kinematic (RTK) global navigation satellite system (GNSS) and vision sensors. Solutions for GNSS-only are first presented, followed by the fusion of GNSS and vision. The important problem of sensor intrinsic calibration is solved with a novel offline batch estimation approach. Hardware results are presented for all methods. Our calibration of GNSS-to-camera is shown to estimate sensor offsets with millimeter level accuracy. Localization systems are combined with custom state machines that manage the landing attempt via a novel descent cone. This conical threshold enforces a safe and accurate landing. Our landing methods are demonstrated in real-world experiments and achieve consistent accurate landings with error below 10 cm. The fusion of camera and RTK is shown to produce a robust landing system with redundant localization sources.

This master‘s thesis deals with development and realisation of robotic lawn mower with satelite navigation. It begins with preparation of a platform for outdoor mobile robot navigation and it’s control HW and SW. There are discussed different options of navigation both commercial and experimental. Further on I have chosen the right GNSS receiver based on market research and user experience. The GNSS receiver’s parameters are measured with different antennas. Following with the choice of suitable open-source control unit and it’s software implementation. Furthermore control from a companion computer is described and physical realisation is done. In the end of the thesis activation of the whole mower is performed and described. Lastly there are discussed possible ways of future development.

Thesis deals with automatic guided mobile robot focused on obstacle avoidance during ride on planned route. There are summaries of usually used obstacle detecting sensors and algorithms used for path finding. Based on this, own solution is designed. It uses waypoints changes to pass obstacle. MATLAB simulation is created for tests of new designed method. This method is implemented to real robot for real world testing. Reached goals and upgrade possibilities are summarized in bottom of thesis.

The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.

Tato práce se zaměřuje na autonomní lokalizaci radiologických zdrojů v definované oblasti zájmu. Jejím cílem je vyvinout lokalizační strategie a platformu, na které je bude možné vyzkoušet. Platforma je sestavena z průzkumného robotu Orpheus-X3, scintilačních detektorů a přesného GNSS přijímače. Algoritmus pro vytváření mapy distribuce radiačního pole je rozšířen. Jsou představeny nové metody založené na směrové citlivosti navrhovaného detekčního systému. Počáteční průzkum oblasti zájmu je uskutečněn pomocí kružnicových trajektorií. Všechny algoritmy byly otestována jak simulacemi, tak reálnými experimenty. Dosažená přesnosti lokalizace je v řádu desítek centimetrů. Časová efektivita je použitím nových algoritmů zvýšena přibližně dvakrát až pětkrát. Jedním z~přínosů práce je vývoj modulárního systému, který může být přesunut a uzpůsoben na jiné platformy. Výhodou použitého systému je vysoký stupeň autonomie a bezpečnost pro lidského operátora.