Made available in DSpace on 2014-06-11T19:23:31Z (GMT). No. of bitstreams: 0 Previous issue date: 2002-08-30Bitstream added on 2014-06-13T20:30:18Z : No. of bitstreams: 1 castro_alp_me_prud.pdf: 5444410 bytes, checksum: 7e68cc5dce3b24fd2a1e82437186ffef (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / O posicionamento através do GPS alterou profundamente a metodologia geodésica nas últimas décadas. Atualmente, as aplicações dessa técnica espacial não se limita à determinação das coordenadas geodésicas como ocorria no posicionamento clássico. O posicionamento por GPS, combinado com um modelo geoidal, proporciona a altitude ortométrica, com a precisão suficiente para várias aplicações cotidianas (mapeamento, distribuição de água, saneamento básico, irrigação, planejamento urbano, etc). Isto significa que, nessas aplicações, já é possível substituir o nivelamento tradicional pelo nivelamento por satélite com a simplicidade oferecida pelo GPS. Os objetivos principais deste trabalho, em síntese, são os seguintes: determinar a altitude ortométrica num conjunto de Referências de Nível combinando o posicionamento por GPS com um modelo geoidal do Estado de São Paulo; avaliar o nivelamento através do GPS, comparando as altitudes determinadas com as conhecidas nesses pontos; e definir estratégias para adequar o nivelamento por satélite às aplicações cotidianas. A metodologia proposta consiste em avaliar o nivelamento realizado com o GPS, por meio da análise estatística das discrepâncias entre as altitudes ortométricas determinada e conhecida em cada ponto; e definir estratégias de observação e processamento de dados GPS visando essas aplicações. Os resultados obtidos neste trabalho mostram que é possível realizar o nivelamento por satélite utilizando receptores GPS equipados com antenas de duas freqüências ou mesmo de uma freqüência e bases de comprimento até 250 km. Assim, o usuário possui alternativa para substituir o nivelamento convencional pelo nivelamento por satélite, com os benefícios da simplicidade operacional, da rapidez e do baixo custo que o GPS oferece. / The GPS positioning has deeply modified the geodetic methodology in the last decades. Currently, the applications of this space technique are not limited to the determination of the geodetic coordinates as it happened in classical positioning. The GPS positioning, combined with a geoidal model, provides the orthometric heights, with the enough precision for some daily applications (mapping, water distribution, basic sanitation, irrigation, urban planning, etc). In these applications, it is already possible to substitute the traditional levelling by the satellite levelling with the simplicity allowed by the GPS. The main objectives of this work are the following: to determine the orthometric heights in a set of leveling benchmarks by combining the GPS positioning and a gravimetric geoidal model in São Paulo state; to evaluate the GPS levelling, by comparing the obtained orthométric heights with the known ones at these points; and to define strategies to applay the satellite levelling to the daily applications. The proposed methodology consists in evaluating the GPS levelling through the statistical analysis of the discrepancies between the determined orthometric heights and the known one at each point; and to recomend strategies for observation and data processing. The results obtained in this work show that, for many applications, the GPS levelling can be accomplished, by using GPS receivers equipped with two frequencies, or even one frequency antennas, for baselines up to 250 km. So the user has an alternative to substitute the conventional levelling by the satellite levelling, with the benefits of operational simplicity, the little time consuming, and the low cost enabled by using GPS.

Title: Robot Localization Author: RNDr. David Obdržálek Department: Department of Software Engineering Supervisor: Prof. RNDr. Jaroslav Pokorný, CSc., Department of Software Engi- neering Abstract: Localization is one of the most important areas in low-level support for successful robot operations. This work presents several localization methods which have been also used for practical implementation on real robots. Among others, Monte Carlo Localization (MCL) was selected for implementation. It represents very successful method of probability localization in situations when data acquired from the sensors does not fully correspond to the reality. The resulting localization technique was successfully used for localization of several robots. The work also shows how a cheap low-end GPS receiver module can be used for localization on a graph-based map. Keywords: robotics, localization, GPS, Monte Carlo Localization

El objetivo general del presente trabajo de título es diseñar e implementar un visualizador de equipos GPS, que realice el rendering de un mapa (superficie) de 3 dimensiones utilizando un Sistema de Información Geográfica (GIS) como fuente de datos. Esta herramienta debe simplificar y optimizar la interacción entre el usuario y el servidor. Al momento de realizar este trabajo, no existían muchas aplicaciones que representen la información geográfica en 3 dimensiones, sin embargo se está presenciando un constante crecimiento de los GIS 3D y su interacción con los CAD (herramientas de diseño asistido por computador). La realidad virtual y la computación gráfica, los influencian y acerca unos a otros cada vez más. En este contexto, los modelos 3D de superficies pueden asistir en forma interactiva los procesos de toma de decisiones, como en este caso, el manejo de una flota equipada con equipos GPS. El desarrollo se comenzó determinando las herramientas que pudieran agilizar el trabajo y los componentes que formaron parte de la aplicación. Primero se seleccionó un Sistema de Información Geográfico (Servidor GIS) que permite la obtención de datos geográficos mediante consultas simples. Luego se diseño un componente proxy que permite la interacción entre el Servidor GIS y la interfaz gráfica, que procesa las distintas capas de información en forma independiente y optimiza el manejo de datos para que el posterior rendering de superficie sea más liviano. A continuación se diseñó la interfaz Web en 3 dimensiones con Adobe Flash utilizando librerías de código abierto para generar la representación virtual de los objetos. Finalmente se integra un sistema externo que provee la información de posicionamiento de los móviles GPS dentro de la aplicación. El resultado final fue una aplicación desarrollada como prototipo inicial de un visualizador portable que realiza rendering en 3 dimensiones de superficies de manera óptima permitiendo una navegación intuitiva utilizando el mouse y teclado. Se integró, también, exitosamente un sistema de información GPS logrando representar a los móviles posicionados sobre un mapa. El trabajo realizado cumplió con los objetivos propuestos en esta memoria. El prototipo desarrollado es el punto de partida para el desarrollo de una aplicación de mayores proporciones que incluirá funcionalidades tales como mejoramiento de de la interfaz, integración de cartografía nueva, mejoras en la utilización de la información cartográfica, implementación de algoritmos complementarios de optimización de datos, entre otros.

The primary aim of this research is to develop and assess the innovative methods and techniques which are used to augment GPS using a variety of digital spatial data. It is well known that the use of GPS can be severely compromised by various error sources such as signal obstructions, multipath and poor satellite geometry etc., especially in highly built-up areas. In order to improve the accuracy and reliability of GPS, complementary data is often combined with GPS data for enhancing the performance of a standalone GPS receiver. Spatial data is one type of complementary data that can be used to augment GPS. However, the potential of using various types of existing and newly acquired spatial data for enhancing GPS performance has not been fully realised. This is particularly true due to the fact that higher accuracy digital surface models (DSMs), which include buildings and vegetation, and digital maps, have only been made widely available in recent years. This thesis will report on a number of experiments that used spatial data of various complexity and accuracy for enhancing GPS performance. These experiments include height aiding with different scale digital terrain models (DTMs); map-matching using odometer data, DTM and road centrelines; modelling and prediction of GPS satellite visibility using DSMs; and prediction of GPS multipath effect using DSMs and building footprints. These experiments are closely related to each other in the sense that GPS and spatial data are combined to provide value-added information for improved modelling and prediction of GPS positioning accuracy and reliability, for applications such as transport navigation and tracking ... Extensive fieldwork has been carried out to verify the developed techniques and methods. The results show that the accuracy of a standalone GPS receiver can be improved by height aiding using a higher resolution DTM and map-matching especially when the satellite geometry is poor. The mean error of single receiver GPS positioning for one particular dataset, on which the described map-matching algorithm was developed, is 8.8m compared with 53.7m for GPS alone. This work was carried out in collaboration with London Transport. In terms of satellite visibility analysis, the results obtained from the fieldwork indicate that greater modelling accuracy has been achieved when using higher resolution DSMs. Furthermore, a ray tracing model was implemented in a 3D GIS environment in order to model reflected and diffracted GPS signals. The Double Differencing (DD) residuals were used to give an indication of the magnitude of the possible pseudorange multipath error caused by diffraction. A single-knife diffraction model was first implemented on 1m Light Detection And Ranging (LiDAR) DSMs, and verified by post-processing (i.e. large DD residuals occurred when the satellites are partially masked and unmasked by buildings), which indicate that GPS multipath prediction with LiDAR data and building footprints is feasible, and has the potential to offer greater modelling accuracy.

The Cash in Transit (CIT) industry demands reliable and innovative products from its suppliers to ensure safety and reliability within the industry. Product innovation has been directed at a bespoke tracking system for the Cash in Transit industry, which can meet its stringent requirements and excel above the capabilities of standard, readily available tracking systems. The presented research has investigated the state of the art in tracking and localisation systems and has highlighted Wi-Fi as a potential novel Cash in Transit tracking solution. With research into 2.4GHz Wi-Fi and the effects in a CIT environment, the technology has been understood and demonstrated in terms of its advantages and weaknesses when applied to CIT. The research has shown that 2.4GHz Wi-Fi is a novel and viable solution for both wide area tracking and localised tracking of a Cash in Transit security box by testing innovative ways of detecting theft using 2.4GHz Wi-Fi in a set of specific real-world scenarios. An embedded tracking system was developed and a thorough evaluation undertaken using a series of practical usage scenarios. The results show the proposed tracking capability is very effective and ready for initial effective use within a Cash in Transit security box.

This diploma thesis deals with a comparison of the measured data using various GNSS apparatures. In the theoretical part, the general structure of navigation systems is described and the comprehensive overview of navigation systems in the world is elaborated here. The next chapters are devoted to regional and augmentation navigation systems. The last chapter in the theoretical part is focused on point field in the Czech Republic.In the practical part of this thesis, the experimental measurement using various GNSS apparatuses was carried out in cadastre unit Kokořov. Subsequently, the measured data were transformed into S-JTSK and compared with each other. In the end, using various GNSS for the purpose of registration changes in landuse was evaluated.

The thesis discusses the navigation systems mainly in forestry. The first part describes the GPS and GLONASS, which is used in the work. By using the navigation device Garmin GPSMAP 64 has been measured 30 points in a leafy vegetation, evergreen vegetation and open space. The methodology is described in detail as the measurement procedure and subsequent results at individual stations. Furthermore, the work deals with the difference between the GPS and GLONASS and accuracy while measuring. The aim is to determine the degree of accuracy and the use of instruments in forestry.

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