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Using Locata to augment GNSS in a kinematic urban environment

Bonenberg L., Roberts G., Hancock C.

Archiwum Fotogrametrii, Kartografii i Teledetekcji

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2011

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Vol. 22

63--74

EN

GNSS has become one of the most widespread measurement technologies, widely used in GIS, mobile mapping applications and civil engineering. Utilisation of differential techniques offers cm-level positioning accuracy. Identified drawbacks are the requirement for line of sight to the satellites and accuracy dependent on the geometric distribution of the satellites. Especially the latter is paramount for any surveying or mobile mapping application in the urban environment. The utilisation of additional constellations (GLONASS, GALILEO or COMPASS) only partly mitigates the problem. Locata is an Australian terrestrial positioning technology, based on the pseudolite concept. It’s unique in its utilisation of the 2.4GHz ISM band and proprietary TimeLoc procedure, allowing for network synchronisation at the nanosecond level. This paper focuses on the tight integration of GNSS with Locata, in order to address the described drawbacks and to provide cm level positioning in areas currently “difficult” for GNSS – such as urban canyons. This paper describes the intended deployment and utilisation of the integrated system in the typical urban environment where availability of GPS can be limited or even non-existent, depending on the time and location. The verification of the integration methods has been carried out using simulated GPS and Locata data. Also presented is an application simulation in a typical urban canyon environment (Canary Wharf, London, UK) using proprietary software developed at the University of Nottingham. Simulation of the proposed integration algorithms, using a real life scenario, has shown promising results with centimetre-level positioning accuracy on the moving platform. The algorithm provides code ambiguity estimation for both Locata and GPS on-the-fly, without prior knowledge of the position, providing predominantly 3D position on the cm level.

2

Evaluating the performance of mems based inertial navigation sensors for land mobile applications

Kealy A., Retsche G., Grejner-Brzezińska D., Gikas V., Roberts G.

Archiwum Fotogrametrii, Kartografii i Teledetekcji

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2011

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Vol. 22

237--248

EN

In 2010 a collaborative working group was formed under the professional associations: International Association of Geodesy (IAG WG4.2.5) and International Federation of Surveys (FIG WG5.5). Entitled ubiquitous positioning, this working group aims to harness and develop existing research outputs available internationally in this research domain. Our goal over the next four years is to provide an online resource for academic and industry professionals, who can use these research outputs thereby reducing duplication and facilitating more rapid progress in the development of ubiquitous positioning systems. This paper presents a summary of the research activities and results of the working group to date. In particular, it presents the results of extensive testing to characterize the performance of a range of low-cost MEMS inertial sensors. The test scenarios, data acquisition software, processing tools and results obtained will be fully described and presented. The performance of these sensors in augmenting GNSS positioning is also presented using results obtained from a combination of loosely and tightly coupled Kalman filters. Finally, the future plans for the working group over the next four years and opportunities for wider collaboration will be discussed.

3

Inteligentna mechatronika (2). Inteligentne systemy mechatroniczne

Roberts G.

Pomiary Automatyka Robotyka

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1999

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R. 3, nr 9

5-7

PL

W 1. części artykułu (PAR 7-8/99) przedstawiono pochodzenie mechatroniki i pokazano rozwój samej koncepcji. Omówiono także równoległy rozwój paradygmatów systemów inteligentnych, takich jak logika rozmyta, sztuczne sieci neuronowe i algorytmy genetyczne oraz wykazano nieodwracalne powiązania obu dziedzin. W niniejszej części przedstawiono zastosowania synergetycznego powiązania obu dziedzin.

EN

The mechatronics origins and its development is presented in part 1 of the paper (cf. PAR 7-8/99). Moreover paper development paradigms of intelligent systems, e.g. fuzzy logic, artificial neural networks and genetic algorithms that they are inexorably linked with mechatronics. This part presents synergisist applications relations of above mentioned subjects.

4

Inteligentna mechatronika (1). systemy mechatroniczne i systemy inteligentne

Roberts G.

Pomiary Automatyka Robotyka

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1999

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R. 3, nr 7-8

7-11

PL

W ostatnim dziesięcioleciu odnotowano wykładniczy rozwój mechatroniki i prac systemów inteligentnych, który doprowadził do stworzenia ekscytujących nowych produktów codziennego użytku. W artykule przedstawiono pochodzenie mechatroniki i pokazano rozwój samej koncepcji. Omówiono także równoległy rozwój paradygmatów systemów inteligentnych, takich jak logika rozmyta, sztuczne sieci neuronowe i algorytmy genetyczne oraz wykazano nieodwracalne powiązania obu dziedzin. Ogólnym celem jest wykazanie, w jaki sposób synergiczne powiązanie obu obszarów stało się siłą sprawczą dla różnorodnych innowacyjnych zastosowań, od aparatów fotograficznych i pralek domowych począwszy, na samochodach, okrętach i procesach produkcji przemysłowej skończywszy.

EN

Over the last decade there has been an exponential growth in mechatronics and intelligent systems activity, a growth which has led to the development of exciting new products which are in everyday use. The paper will trace the origins of mechatronics and demonstrate how the concept has grown from its beginnings in Japanese manufacturing industry to become universally accepted as an important enabling methodology for improved product design and profitability. The paralle development of the intelligent system paradigms of fuzzy logic, artificial neural networks and genetic algorithms will also be become inexorably linked.