On the basis of analyzing and researching the current algorithms of cycle-slip detection and correction, a new method of cycle-slip detection and correction is put forward in this paper, that is, a reasonable cycle-sl...On the basis of analyzing and researching the current algorithms of cycle-slip detection and correction, a new method of cycle-slip detection and correction is put forward in this paper, that is, a reasonable cycle-slip detection condition and algorithm with corresponding program COMPRE (COMpass PRE-processing) to detect and correct cycle-slip automatically, compared with GIPSY and GAMIT software, for example, it is proved that this method is effective and credible to cycle-slip detection and correction in GPS data pre-processing.展开更多
The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Devel...The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone＇s flight path was programmed in two ways： using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS （global positioning system） （RTK （real time kinematic）） method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.展开更多
This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global posit...This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.展开更多
文摘On the basis of analyzing and researching the current algorithms of cycle-slip detection and correction, a new method of cycle-slip detection and correction is put forward in this paper, that is, a reasonable cycle-slip detection condition and algorithm with corresponding program COMPRE (COMpass PRE-processing) to detect and correct cycle-slip automatically, compared with GIPSY and GAMIT software, for example, it is proved that this method is effective and credible to cycle-slip detection and correction in GPS data pre-processing.
文摘The UAVs （unmanned aerial vehicles） and the use of graphical data files of extension KML （keyhole markup language） have become popular nowadays. The KML files are associated to the Google Earth applications. Developed by Microdrone company for planning, overflight simulation and data flight analysis, the program mdCockpit was used in this experiment. The UAV Microdrone＇s flight path was programmed in two ways： using geo referenced images from Google Earth and entering points coordinates into the program. These points have had their geographical decimal coordinates collected by GPS （global positioning system） （RTK （real time kinematic）） method. The aim here is to describe a way of evaluating the difference between the alternatives of flight planning. A flight path, defined a route with 22 points, was also simulated in the program mdCockpit. The points were collected and saved, while the images captured by the program went automatically forming a georeferenced mosaic. A comparison between the differences of coordinates to each point was made by choosing on the images and also by a RTK positioning. The result was up to 14.20 m to a 100 m flight height. There is a significant change of position and this can result in unwanted over flights in locations or even jeopardizing the safety of air activity.
文摘This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.
