Tesi: "GPS" – Grafiati

1

Griffin, Terry W. "GPS CaPPture: a System for GPS Trajectory Collection, Processing, and Destination Prediction". Thesis, University of North Texas, 2012. https://digital.library.unt.edu/ark:/67531/metadc115089/.

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Abstract (sommario):

In the United States, smartphone ownership surpassed 69.5 million in February 2011 with a large portion of those users (20%) downloading applications (apps) that enhance the usability of a device by adding additional functionality. a large percentage of apps are written specifically to utilize the geographical position of a mobile device. One of the prime factors in developing location prediction models is the use of historical data to train such a model. with larger sets of training data, prediction algorithms become more accurate; however, the use of historical data can quickly become a downfall if the GPS stream is not collected or processed correctly. Inaccurate or incomplete or even improperly interpreted historical data can lead to the inability to develop accurately performing prediction algorithms. As GPS chipsets become the standard in the ever increasing number of mobile devices, the opportunity for the collection of GPS data increases remarkably. the goal of this study is to build a comprehensive system that addresses the following challenges: (1) collection of GPS data streams in a manner such that the data is highly usable and has a reduction in errors; (2) processing and reduction of the collected data in order to prepare it and make it highly usable for the creation of prediction algorithms; (3) creation of prediction/labeling algorithms at such a level that they are viable for commercial use. This study identifies the key research problems toward building the CaPPture (collection, processing, prediction) system.

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2

Johansson, Mattias. "Estimering av GPS pålitlighet och GPS/INS fusion". Thesis, Uppsala universitet, Signaler och System, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-203171.

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The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning. An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS. Two methods for GPS/INS integration have been proposed. One method based on a bank of parallel running Kalman filters and one method based on an adaptive observer.The method based on Kalman filter diverged. By adding a state that was suppose to represent the bias of the noise an attempt was to fix this problem made. The filter still diverged and was not examined any further. Among the other two algorithms did the one that uses both magnetometer and gyroscope presents a better result than the one that uses only gyroscope. However, the result differences between the two algorithms were not big and the result may change if a better INS is used.

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3

Lei, Huang, Zhang Qishan e Huang Xingjian. "VEHICLE MONITORING SYSTEM VIA GPS, GIS AND GPRS". International Foundation for Telemetering, 2003. http://hdl.handle.net/10150/605352.

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International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, Nevada
Vehicle Monitoring System (VMS) has being introduced into the world marketplace with the hope that it will help alleviate traffic congestion and the associated environmental pollution. In this paper we give an overview of system composition and principle of the VMS and several communications link solutions in China. We review technologies and focus on the key technological issues about the integration of VMS with the GPRS wireless mobile network and the Internet.

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4

Hackl, Matthias. "GPS analysis". Diss., lmu, 2012. http://nbn-resolving.de/urn:nbn:de:bvb:19-146274.

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5

Härberg, Martin, e Roberto Chiarito. "GPS Experimentet". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199272.

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6

Слюзар, Роман Сергійович, e Roman Slyuzar. "GPS приймач". Bachelor's thesis, Тернопільський національний технічний університет імені Івана Пулюя, 2021. http://elartu.tntu.edu.ua/handle/lib/35612.

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Розроблено структурну схему GPS приймача, на основі якої розроблено схему електричну принципову. Проведено розрахунок схеми електричної принципової приладу. Розроблено друковану плату та друкований вузол. Основні техніко-експлуатаційні характеристики: тип приймача – 12 паралельних каналів L1 C/A код, точність визначення місцеположення – 5 м, повторне захоплення сигналу – через 1 сек, чутливість – 137-145дБм, протокол – NMEA-0183, версія 3.01 9600 бод, 8N1, напруга живлення – 12-15 В, можливість підключення до ПК – через Com-порт
The structural scheme of the GPS receiver is developed, on the basis of which the electric basic scheme is developed. The calculation of the scheme of the electric principle device is carried out. A printed circuit board and a printed circuit board have been developed. Main technical and operational characteristics: type of receiver - 12 parallel channels L1 C / A code, accuracy of positioning - 5 m, re-capture of the signal - after 1 sec, sensitivity - 137-145dBm, protocol - NMEA-0183, version 3.01 9600 baud, 8N1, supply voltage - 12-15 V, the ability to connect to a PC - via Com-port.
Перелік умовних позначень, символів, одиниць, скорочень і термінів 6 Вступ 7 1 Основна частина 8 1.1 Аналіз технічного завдання 8 1.1.1 Обґрунтування актуальності теми дипломного проекту 8 1.1.2 Аналіз інформації 14 1.2 Розробка структурної схеми пристрою 14 1.3 Проектування і розрахунок вузлів електричної принципової схеми пристрою 16 1.4 Вибір і обґрунтування компонентної бази 22 1.5 Компоновка друкованого вузла пристрою 29 1.5.1 Розробка компоновки і конструкції друкованого вузла 29 1.5.2 Оптимізація компоновки, друкованого вузла 34 1.5.3 Розрахунок і забезпечення вимог по надійності 40 1.6 Висновок до розділу 1 45 2 Охорона праці та безпека життєдіяльності 46 2.1 Вплив шуму на організм людини та розробка заходів щодо його зниженню до допустимих величин 46 2.2 Організація управління ЦЗ та реагування на НС на підприємстві (цеху) відповідного профілю 50 2.3 Висновок до розділу 2 51 Висновки 52 Список використаних джерел 53 Додатки 55

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7

Григор'єв, Артем Сергійович. "GPS – трекер". Bachelor's thesis, Київ, 2019. https://ela.kpi.ua/handle/123456789/29485.

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Мета роботи – спроектувати та сконструювати макет GPS – трекера. Отримати дані про місце знаходження приладу. В дипломному проекті: - розглянуто існуючі глобальні навігаційні супутникові системи; - методи позиціювання об’єктів у просторі; - наведені характеристики використаємо апаратури; - приведено алгоритм роботи пристроїв позиціювання; - наведені характеристики існуючих трекерів; - розроблено корпус макету пристрою; - виготовлено корпус макету пристрою; - проведено випробування приладу; Основою трекера було обрано GPS – модуль Ublox Neo 7m та плату Arduino nano 328 p.
Theme of the diploma project: "GPS - tracker". The diploma project consists of an explanatory note - 52 pages, drawings A1 - 1, posters A2 - 2. Number of sources by the list of references - 9. The purpose of the work is to design and construct a GPS tracker layout. Get the location of the device. In the diploma project: - Existing global satellite navigation systems are considered; - methods of positioning objects in space; - the above characteristics we use the equipment; - the algorithm of the positioning devices is shown; - characteristics of existing trackers are given; - The case layout of the device is developed; - the case of the layout of the device is made; - test of the device; The basis of the tracker was chosen GPS - the module Ublox Neo 7m and board Arduino nano 328 p.

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8

Madron, Tomáš. "Diferenciální GPS". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217753.

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This master’s thesis is the design of the system of the differential GPS, creation of the software for basic wireless communication between 2 GPS receivers, and practical tests of the designed system. Parameters and characteristics of system were determined and they should inform us better about the appropriateness of the designed system for navigation of a mobile robot in outside conditions.

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9

Wallerström, Mattias, e Fredrik Johnsson. "En nätverks-RTK-jämförelse mellan GPS och GPS/GLONASS". Thesis, University of Gävle, Department of Technology and Built Environment, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-130.

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Från den 1 april 2006 har SWEPOS kompletterat den befintliga nätverks-RTK-tjänsten, som dittills levererat RTK-data för GPS, med ett alternativ där RTK-data för GPS/GLONASS levereras. En del användare har rapporterat att de upplever att GPS/GLONASS inte tillför något och även att det ibland kan ta längre tid att få fixlösning. Andra användare hävdar att de nu kan använda nätverks-RTK på platser där de tidigare inte kunde mäta och är mycket positiva till GPS/GLONASS.

Syftet med detta examensarbete var att undersöka hur tillgängligheten för satellitmätning, positionsnoggrannheten och initialiseringstiden påverkades i öppna respektive störda miljöer med GPS/GLONASS jämfört med enbart GPS vid användandet av nätverks-RTK-tjänsten. Undersökningen har utförts med tre olika fabrikat av GNSS-mottagare (Leica, Topcon och Trimble), vilket även medger att en jämförelse mellan dessa till viss utsträckning kan göras.

I studien gjordes totalt 1 440 mätningar på sex punkter med kända positioner och med olika grad av sikthinder. Fixlösning uppnåddes inte inom 180 sekunder för 206 (77 för GPS/GLONASS och 129 för GPS) av de 1 440 mätningarna.

De extra GLONASS-satelliterna tillför en klar fördel när det gäller möjligheten att mäta i störda miljöer. När det gäller initialiseringstid så är dessa kortare för GPS/GLONASS. GLONASS-satelliterna ger ingen förbättring av positionsnoggrannheten. Det är till och med så att GPS får något bättre kvalitetstal i både plan och höjd i denna studie (1-3 mm bättre). För de olika fabrikaten kan det konstateras att precision och noggrannhet är likvärdiga i både plan och höjd för alla tre märken.

On the 1st of April 2006, SWEPOS complemented the existing network RTK service with corrections for the Russian satellite system GLONASS. The service had so far only provided corrections for GPS. Some users have claimed that GPS/GLONASS do not contribute at all and also that the time for initialization sometimes can be longer. However, other users insist on that they now can use network RTK in areas that earlier were impossible and they are very favourable of GPS/GLONASS.

The purposes of this diploma work were to study and examine measurements using GPS and GPS/GLONASS in areas with different degrees of visual obstacles. Corrections were provided by SWEPOS Network RTK service and availability of satellites, accuracy of position and time for initialization were evaluated. The study has been conducted with three different brands of GNSS receivers (Leica, Topcon and Trimble), which also to some extent makes a comparison between the three brands possible.

A total number of 1 440 field measurements were made on six well-known points with different degrees of visual obstacles. A fixed solution was not accomplished within 180 seconds for 206 (77 for GPS/GLONASS and 129 for GPS) of the 1 440 measurements.

The additional GLONASS satellites provide an apparent advantage regarding the possibility to measure in disturbed environments. The time for initialization is shorter for GPS/GLONASS. The GLONASS satellites do not give any improvement in accuracy of position. On the contrary, GPS receives slightly better accuracy numbers in quality for both horizontal and vertical readings (1-3 mm better). Regarding the different brands, it was found that the precision and accuracy were similar in both plane and height for all three brands.

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10

Zhang, Kewei. "Investigating GPS Vulnerabilty". Thesis, KTH, Kommunikationsnät, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-138988.

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Abstract (sommario):

The Global Position System (GPS) has become nearly mandatory in our daily life,like the Internet. Since it (the part for civilian use) is free, open and accurate,lots of applications have made our life more convenient and more effective, suchas the location-based applications for cell phones, tracking bulldozers, shippingcontainers, etc. GPS is becoming mature and rather accurate, but its securitycan’t be neglected since it is widely used in the world. RF interference can beclassified into: intentional and unintentional interference. There are lots of RF inour surroundings, whose frequency might be close to GPS frequency, could affectthe GPS accuracy, or even sometimes make it unavailable. This project, I analyzetwo types interferences, spoofing and jamming interference. I implement two attacks:a version of Cicada attack, to check how this specific attack affects GPS, and thedistance-deceasing attack, a special type of a relay attack (Early Detect(ED) attackand Late Commit(LC) attack). I find (i) that the Cicada attack, as implemented,is essentially equivalent to jamming, and (ii) how to set up the ED/LC attacks tosucceed (i.e., have low BER).

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11

Summerfield, Philip John. "Kinematic GPS surveying". Thesis, University of Nottingham, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.254471.

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12

Ciasulli, Lou. "GPS Imbedded Telemetry". International Foundation for Telemetering, 1992. http://hdl.handle.net/10150/611945.

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International Telemetering Conference Proceedings / October 26-29, 1992 / Town and Country Hotel and Convention Center, San Diego, California
The Global Positioning System has achieved a maturity whereby a large marketplace of users have developed. This marketplace has been flooded with many types of receivers from a large number of manufacturers. The broad acceptance of the system among military as well as commercial users has created this market, and receiver availability due to planned mass production has precipitated substantial price reduction for GPS receivers. OEM receivers are presently available on the market at such a low cost that their incorporation into flight test systems should be seriously considered. The data produced by the system has a reasonable and usable accuracy for platform position, flight vectors and time. These are suitable in most range applications and can either augment or replace present tracking methods such as multilateration or triangulation for vehicle position. The advantages of eliminating the need for tracking functions in ground control stations are obvious especially in multi-vehicle operations such as in air-to-air weaponry testing and range training missions. The simplification of operation in position determination becomes especially desirable for over-the-horizon platforms. In this case, ground or airborne relays must be employed which complicates the location task by orders of magnitude.

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13

Backman, Fredrik, e Axel Vidmark. "The GPS Experiment". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199273.

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14

Ausejo, Ayra Allan Paul, Vilela Sofía Elizabeth Canales, Peña Javier Antonio Gabriel Sandoval e Palacios Milton Minor Watanabe. "First Control - GPS". Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2019. http://hdl.handle.net/10757/626227.

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En la actualidad, Lima Metropolitana, como capital del Perú, viene sufriendo un aumento exhaustivo de criminalidad, en especial en los robos de vehículos. Como consecuencia, en el peor de los casos, arrastra con muertes de personas que opusieron resistencia ante estos delitos. Por ello, este trabajo de investigación, brinda la solución ante esta problemática, éste es un dispositivo GPS, que será instalado en cualquier unidad vehicular motorizada. Además, con la función de monitorear en tiempo real el vehículo desde cualquier Smartphone o PC, con la posibilidad de apagar la unidad con un comando especial enviado desde estos dispositivos. De esta manera, se evita llegar a la confrontación con el criminal a la hora de salvaguardar la inversión del cliente, ya que solo se tendrá que usar cualquier celular o pc para bloquear el vehículo. El dispositivo GPS, será importado desde China y EEUU, de esta manera se aprovecharán los TLC vigentes. Actualmente, se cuentan con todos los permisos necesarios de las entidades correspondientes para su importación. Por ello, se brindará un equipo y servicio a bajo costo y único pago. Por consiguiente, éste llega a ser un producto muy competitivo a comparación de la competencia, ya que estos ofrecen servicios semejantes pero con pagos fijos mensuales. Finalmente se estima que la utilidad generada será del 75% por cada dispositivo vendido. Esta es una solución eficaz ante la delincuencia, que ofrece un uso personalizado, autónomo y a un bajo precio.
Currently, metropolitan Lima, as the capital of Peru, has been suffering an exhaustive increase in crime, especially in vehicle thefts. As a consequence, in the worst case, it leads to deaths of people who opposed resistance to these crimes. Therefore, this research work provides the solution to this problem, this is a GPS device, which will be installed in any motorized vehicle unit. In addition, with the function of monitoring in real time the vehicle from any Smartphone or PC, with the possibility of turning off the unit with a special command sent from these devices. In this way, you avoid getting confronted with the criminal when it comes to safeguarding the client's investment, since you only have to use any cell phone or PC to block the vehicle. The GPS device will be imported from China and the US, thus taking advantage of the current FTAs. Currently, they have all the necessary permits from the corresponding entities for their importation. Therefore, a team and service will be provided at a low cost and with a single payment. Therefore, it becomes a very competitive product compared to the competition, since they offer similar services but with fixed monthly payments. Finally, it is estimated that the generated profit will be 75% for each device sold. This is an effective solution to crime, which offers personalized, autonomous use at a low price.
Trabajo de investigación

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15

Cséfalvay, Gabriel. "Výukový GPS přijímač". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218323.

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This work explicates a simple GPS receiver intended for laboratory demonsration of DSSS signal demodulation and apparent distance measurement. The receiver will be able to seek for individual sattelite signals, measure their shift against local oscillator, demodulate navigational data, display information on LCD and communicate with PC via USB.

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16

Hort, Marek. "Konstrukce GPS přístroje". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218691.

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Aim of this Diploma thesis was to create a device capable of receiving navigational data from GPS. These data are subsequently stored in fixed memory and after connection with the PC are displayed it on the satellite map. The device was realized by using FPGA and GPS module LEA-5s. Description was created in the VHDL language, which was implemented into the circuit. The part of VHDL design was description of PICOBLAZE processor that controls whole system. For displaying and archiving data stored in device was created PC application GPS TRACER. It is able to display stored trace on the satellite map by using Google maps server. For created device were designed and manufactured PCBs, which were manually fitted.

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17

Hlaváč, Libor. "Konstrukce GPS přístroje". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218692.

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The goal of this thesis is a complete design and realization of a device that is able to communicate with GPS module iTrax300 and display the coordinates received from the module. The thesis deals with the GPS, localization principles and the standard communication protocol for navigation systems - the NMEA 0183 protocol. Futhermore it is dealing with the particular steps in the realization of the engineered device (from the specification of requirements at the beginning to the testing of its functionality in the end). The GPS coordinates, the Coordinated Universal Time (UTC), the date, the altitude and the speed on the ground can be displayed. There is also a possibility to put in any coordinates, the direction and the distance to the point are displayed afterwards. The device enables the track storage in the memory as well. The track is viewable while connecting the device and the PC through the USB interface.

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18

Dušek, Roman. "Komunitní GPS navigace WAZE a její srovnání s ostatními GPS navigacemi". Master's thesis, Vysoká škola ekonomická v Praze, 2014. http://www.nusl.cz/ntk/nusl-192357.

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This diploma thesis deals with the GPS navigations and their applications for portable phones and other portable devices. The thesis is divided into the theoretical and the practical part. In the theoretical part, the necessary terminology is defined. Further on, the different types of the GPS navigations are examined along with their applications and their particular advantages and disadvantages. A reader of this thesis will learn about the basic principles of how the GPS navigations work. In the practical part, the research part, the particular GPS devices undergo tests that had been based on particular hypotheses and that had been run according to predetermined conditions. The crucial part of this section is a comparison different types of GPS navigations with the GPS navigation Waze which has introduced an innovative approach to the creation of its content by the users themselves.

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19

Yongqian, Wang, Li Xianliang e Zhang Qishan. "A Vehicle Tracking System Based on GPS". International Foundation for Telemetering, 1995. http://hdl.handle.net/10150/611591.

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International Telemetering Conference Proceedings / October 30-November 02, 1995 / Riviera Hotel, Las Vegas, Nevada
Vehicle tracking system based on GPS has been paid more and more attention. The system consists of GIS (Geological Information System), master station, movable station and communication network. Movable stations installed on automobiles transmit their position and status messages to the master station. All vehicles' tracks are drawn on the electrical map displayed by the master station's computer screen in real time. Vehicles' alarming signals can also be transmitted to the master station simultaneously. This paper presents a whole designing scheme of the vehicle tracking system, then it makes a thorough introduction to the system's performance and working procedure. The key technologies employed by the system and the relations between them are also discussed in details in the paper.

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20

Andersson, Fredrik. "Utveckling av GIS-applikation för effektivisering av planeringsarbeten för infrastruktur". Thesis, Högskolan i Gävle, Avdelningen för Industriell utveckling, IT och Samhällsbyggnad, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-20886.

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Planeringsarbeten för infrastruktur sker ofta med hjälp av speciella programvaror som CAD för att skapa ritningar på kartor över områden där tänkta infrastrukturer skall utvecklas. Som en effektivisering för dessa arbeten handlar denna studie om implementering av en GIS-applikation för att motivera fördelar med GIS och sättet för hantering samt visualisering av geografisk information. En webbapplikation som hanterar baskartor samt överliggande vektorlager för infrastruktur utvecklas, samt även att samma kartdata över infrastrukturen kopplas till en mobilapplikation för att effektivisera eventuella inventeringsarbeten av infrastrukur med hjälp av GPS för att kunna positionera infrastruktur på ett bra sätt. Tekniken bakom utvecklingen bygger på HTML, CSS och JavaScript samt molntjänstlagrin av infrastruktursdata i en geodatabas . GIS-applikationen sammanställer svar på frågor som bevisar hur GIS på ett tillfredställande sätt mycket väl skulle kunna implementeras och användas praktiskt i ett utvecklingsarbete för infrastruktur i dagens morderna samhälle.

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21

Miller, Stephen J. "In-rest Vehicle GPS Proximity Warning in Surface Operations". Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/35644.

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Proximity Warning Systems are currently the focus of many research groups. Their goal is to produce a system that will reduce the number of run over incidents that occur in large mobile equipment operations. A majority of these incidents occur when the equipment starts from the In-rest state and begins to move. The addition of a transmission locking mechanism to a GPS based proximity warning system will prevent more run over incidents. This transmission locking mechanism will automatically prevent equipment from moving when there is a high risk for a potential run over incident to occur. Additional safety and optimization for surface equipment can be provided by utilizing GIS software for data analysis just by using the data collected from a GPS based proximity warning system. Combining these ideas and methods can provide better safety for large mobile equipment operations.
Master of Science

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22

Bejeryd, Johan. "GPS-based attitude determination". Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11029.

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Inertial sensors and magnetometers are often used for attitude determination of moving platforms. This thesis treats an alternative method; GPS-based attitude determination. By using several GPS-antennas, and with carrier phase measurements determining the relative distance between them, the attitude can be calculated.

Algorithms have been implemented in Matlab and tested on real data. Two commercial GPS-based attitude determination systems have also been tested on a mobile platform and compared to a navigation grade Inertial Navigation System (INS). The results from the tests show that GPS-based attitude determination works well in open areas, but would require support from additional sensors in urban and forest environments.

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23

Thor, Jonas. "On GPS receiver architectures". Licentiate thesis, Luleå tekniska universitet, EISLAB, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-16810.

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Navigation can be described as the art of finding the way from one location to another. Clearly navigation is something that we perform in our every day lives and the role of navigation can not be underestimated. There exist many technologies that implement various navigation systems to aid in this process. The most popular navigation system is the Global Positioning System (GPS) owned and operated by the United States of America Government. GPS is a space-based radio navigation system. Initially GPS was primarily intended for military use but the civilian community has found increasing use of GPS. The main reasons why GPS has become such a success is that users anywhere in the world can obtain accurate position, velocity and time measurements free of charge. GPS receivers have significantly come down in price since the inception of the system and today can be considered inexpensive – as little as 1000 SEK or 125 € for a 12 channel hand held unit. The civilian use of GPS is expected increase even further and new applications of GPS will emerge. GPS is targeted for a modernization process where new civilian signals will be added to provide more accurate and reliable measurements. The European Union is planning a new space-based navigation system, Galileo, which when operational will provide the civilian community with an alternative or complement to GPS. It is of great interest to develop flexible GPS receivers that can easily be adapted to new applications and various user scenarios. New receivers must also be developed for the modernized GPS and the upcoming Galileo system. Another area of navigation interest is the integration of GPS and inertial sensor measurements. Inertial sensors can be found in another type of navigation system, namely Inertial Navigation System (INS). Integration of GPS and INS provide a more reliable and accurate navigation system. The evolution of low cost Micro Micro Electro Mechanical Systems (MEMS) inertial sensors has dramatically decreased the cost of INS. Hence applications of integrated GPS/INS systems will find new markets that have not been considered before because of the high cost associated with inertial sensors. In this thesis Programmable Logic Devices (PLDs) are used in combination with GPS software receivers. This has enabled the rapid development of flexible GPS architectures ideal for adaptation to various user scenarios and applications. It is also show that this combination of PLDs and software can provide a prototyping environment for inclusion of new GPS or Galileo signals with great flexibility. Furthermore a platform for the integration of GPS/INS is proposed. The main idea is that data processing should be implemented in a single processor. This alleviates one obstacle commonly found in other GPS/INS integration implementations, which is the limited observability of measurements from both GPS and INS. With the new platform full observability of all measurements is obtained. The proposed platform also provides synchronization of GPS and INS data streams at the lowest possible level. Exact synchronization of measurements is essential to provide an accurate implementation of data fusion algorithms.
Godkänd; 2003; 20061022 (ysko)

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24

Andén, Annika. "Outcomes from GPs' Consultations". Doctoral thesis, Linköpings universitet, Allmänmedicin, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-18483.

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Background and aims. Patients’ consultations with GPs can deal with a wide range of conditions and problems. Generally, consultation outcomes have been considered in evaluations but outcome has a meaning for elaboration of care beyond the graduating role of quality and other evaluation instruments. Knowledge about outcomes is needed for understanding and development. The aim of this thesis was to investigate outcomes of GPs’ consultations as directly experienced by patients and GPs and to investigate connections between clinical strategies and presumed patient outcomes. Methods. First, concepts describing outcomes from patients’ and GPs’ viewpoints were developed from interviews in groups and individually. Secondly, based on this, questionnaires about the consultation outcomes were formulated. Then, patients and GPs answered questionnaires regarding the same recent consultation. The numbers of the different outcomes were counted and the experiences of outcomes from the same consultations were compared. Finally, another questionnaire including both the GP outcome questions and questions about the clinical situation and decisions made was answered by GPs. Results. Concepts describing consultation outcomes were brought forward. Cure/symptom relief, reassurance, patient understanding and satisfaction were used by both patients and GPs to describe outcome of consultations. Only patients described as outcomes a confirmation of their ideas and a change in self-perception. GPs, but not patients, described the patient outcomes in terms of check-up and coping. Besides this, GPs also described other outcomes that concerned relationship-building, a change of surgery routines and self-evaluation. Selfevaluation was related to a perceived collegial consensus about right and wrong. The concordance between GPs and patients assessing the same consultations was high for satisfaction, intermediate for patient understanding and low for belief in cure/symptom relief. Clinical strategies were linked to outcomes. Immediate problem solving was registered in about half the consultations. When immediate problem solving was registered the patients were supposed to be more reassured, satisfied and coped better than after gradual problem solving. With increasing psychosocial content of the consultation the GPs registered more dissatisfaction both for themselves and their patients. Conclusions. Change in self- perception was a prominent patient outcome. GPs’ self-evaluations ought to have the inherent possibility to serve as a basis for development of general practice. The entire map of the encountered outcome concepts can serve as a basis for further research and development. The mapping of concepts can be of help when prioritising. Knowledge about the total picture of consultation outcomes can help the GP to understand the patients’ worlds better. It can also contribute to a realistic picture of possible consultation outcomes. The GPs seemed to adjust their problem solving (immediate or gradual) to the registered problem and furthermore adjust the immediate problem solving, focusing either on the problem or on the patient as a person.

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25

Zunino, Livio J. Alarma (Livio Jorge Alarma). "Levantamento de redes GPS". reponame:Repositório Institucional da UFPR, 1991. http://hdl.handle.net/1884/34743.

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Resumo: Ante o iminente aumento da utilização de receptores GPS surgiu a necessidade de se abordar diversos aspectos presentes num levantamento de redes com GPS. Desta maneira, apresentou-se com detalhes as etapas que fazem parte deste tipo de levantamento. Estratégias para a utilização de 3 e 4 receptores foram apresentadas e aplicadas, a titulo de exemplo, em varias redes. Foram construídos fluxogramas dos algoritmos referentes as estratégias permitindo que sejam facilmente programados.Foi apresentado um levantamento de rede com 4 receptores, juntamente com a analise de seus resultados. Finalmente foi feita uma experiência para testar a factibilidade de se combinar os meto dos estático e pseudo-cinematico, visando obter 6 linhas independentes no levantamento de um quadrilátero com suas diagonais, com um mínimo de tempo gasto em coleta de dados no campo Concluiu-se entao, que e perfeitamente viável tal combinação, sendo gasto no campo menos de 50>C do tempo, se comparado com a utilização do método estático.

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26

Thorstensson, Erika. "GPS based attitude determination". Thesis, Linköpings universitet, Institutionen för teknik och naturvetenskap, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-94447.

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This paper is the result of a masters thesis performed at Linköping University for Saab Bofors Dynamics in Linköping, Sweden. Attitude is defined as the orientation of a coordinate frame in reference to another coordinate frame. This is often referred to as three consecutive rotations, called roll, pitch and yaw (or heading). Attitude determination is generally performed using inertial navigation systems composed of gyros and accelerometers. These systems are highly accurate but are very expensive and experience a drift when used for a long period of time. The global positioning system, or GPS, was developed by the US military to determine a user’s position, velocity and time. These parameters can all be determined by performing measurements on the GPS satellite signal code that is modulated onto the GPS satellite signal carrier. But the GPS signal can also be use to determine attitude by performing carrier measurements for two or more GPS antennas. When determining the relative position between two antennas, by measuring the phase difference between them, information of the baseline is attained. The calculated baseline will be in a local navigation frame. By rotating it to the known body frame, a rotation matrix known as a direction coordinate matrix, or DCM, will be attained. From this rotation matrix, only two of the three attitude angles can be calculated, since the third rotation is about the baseline’s own axis. Using three or more antennas (two or more baselines), all three attitude angles can be determined from the DCM. This thesis work included development of a hardware platform carrying four NovAtel Superstar II GPS receivers. The platform enables serial communications between the receivers and a PC, as well as providing the supply for the receivers and antennas. The attitude determination algorithm was written and tested using a test platform mounted onto a car. The result shows a one degree deviation from an INS reference system in heading and pitch during both static and dynamic tests. The roll angle was not measured during the test drives because only one baseline was locked. The GPS based attitude determination system performed well when the baselines were locked, but it requires some improvements for full functionality.

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27

Vodhanel, Michael Thomas. "Problems in GPS Accuracy". Scholarship @ Claremont, 2011. http://scholarship.claremont.edu/cgu_etd/22.

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Improving and predicting the accuracy of positioning estimates derived from the global positioning system (GPS) continues to be a problem of great interest. Dependable and accurate positioning is especially important for navigation applications such as the landing of commercial aircraft. This subject gives rise to many interesting and challenging mathematical problems. This dissertation investigates two such problems. The first problem involves the study of the relationship between positioning accuracy and satellite geometry configurations relative to a user's position. In this work, accuracy is measured by so-called dilution of precision (DOP) terms. The DOP terms arise from the linear regression model used to estimate user position from GPS observables, and are directly related to user position errors. An analysis of the statistical properties explaining the behavior of the DOP terms is presented. The most accurate satellite geometries and worst configurations are given for some cases. The second problem involves finding methods for detecting and repairing cycle-slips in range delay data between a satellite and a receiver. The distance between a satellite and a receiver can be estimated by measuring the difference in the carrier frequency phase shift experienced between the satellite and receiver oscillators. Cycle-slips are discontinuities in the integer number of complete cycles in these data, and are caused by interruptions or degradations in the signal such as low signal to noise ratio, software failures, or physical obstruction of the signals. These slips propagate to errors in user positioning. Cycle-slip detection and repair are crucial to maintaining accurate positioning. Linear regression models and sequential hypothesis testing are used to model, detect, and repair cycle-slips. The effectiveness of these methods is studied using data obtained from ground-station receivers.

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28

Walsh, David M. A. "Kinematic GPS ambiguity resolution". Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.239858.

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29

Evans, Andrew John. "Long baseline kinematic GPS". Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.366412.

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30

Westrop, Jane M. "Dynamic positioning by GPS". Thesis, University of Nottingham, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.278351.

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31

Nortier, Benjamin J. "A spaceborne GPS receiver". Thesis, Stellenbosch : University of Stellenbosch, 2003. http://hdl.handle.net/10019.1/16407.

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Thesis (MScIng)--University of Stellenbosch, 2003.
ENGLISH ABSTRACT: The purpose of this study was to develop a Global Positioning System (GPS) receiver for use on a Low-Earth Orbit (LEO) satellite. The study includes an examination of some of the fundamental GPS theory and how the LEO environment affects the operation of a GPS receiver. The hardware and software that was selected for the implementation are discussed. The reasons for porting the software to a new hardware platform and methods employed in the port are given. Thereafter the process of adapting the receiver software for use in space is given. To verify the operation in space, the receiver was subjected to LEO simulations using a GPS signal simulator. These results are shown and discussed. The tests indicated that the adaptations were successful and that the receiver will function on a LEO satellite.
AFRIKAANSE OPSOMMING: Die doel van die tesis was om ’n Globale Posisionerings Stelsel (GPS) ontvanger to ontwikkel vir gebruik op ’n lae-wentelbaan satelliet. Die studie begin met fundamentele GPS teorie en hoe die funksionering van die ontvanger be¨ınvloed word deur die wentelbaan van ’n satelliet. Die hardeware en sagteware vir die implementasie word bespreek. Die rede en metodes om die sagteware aan te pas om te werk op nuwe hardeware word gegee. Daarna word die proses om die sagteware aan te pas vir ruimtegebruik gegee. Om the verifieer dat die ontvanger wel sal kan werk op ’n satelliet was dit getoets in ’n gesimuleerde ruimte-omgewing met ’n GPS seinsimulator. Hierdie resultate word gegee en bespreek. Die toetse het gewys dat die aanpassings suksesvol was en dat die ontvanger in die ruimte sal funksioneer.

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32

Buchwitz, Guy R. "Talking GPS Locating System". International Foundation for Telemetering, 1995. http://hdl.handle.net/10150/611589.

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International Telemetering Conference Proceedings / October 30-November 02, 1995 / Riviera Hotel, Las Vegas, Nevada
The Talking GPS Locating System (TGLS) was developed to facilitate recovery of airborne targets by vocalizing and transmitting their Global Positioning System (GPS) coordinates to surface recovery teams following target splashdown. The airborne portion of the TGLS includes an off-the-shelf five-channel GPS receiver board, a GPS antenna, a microcontroller board with voice sample/playback circuitry, and a transmitter with antenna. Also part of the TGLS is a Record/Test Unit (RTU) which is used for pre-launch voice recording and ground tests. Upon splashdown, the TGLS is energized, the GPS receiver is initialized, and an optional homing tone burst -- periodically interrupted by a voice message relaying target and GPS receiver status -- is transmitted. Once the receiver has output valid longitude and latitude information to the microcontroller, this position is vocalized as the GPS status portion of the broadcast message. Just one intelligible reception of this message by any inexpensive, properly-tuned voice receiver will allow recovery teams to vector to within 25 to 100 meters of the target regardless of weather conditions or the time of day.

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33

Paradkar, Aniket D. "GPS guided autonomous robot". Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10116163.

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This project focused on building a GPS controlled 6-wheel autonomous robot. It is a self-guided autonomous robot, which can be maneuvered with the help of GPS module and compass together interfaced with the microcontroller Arduino Mega. The 6-wheels of the robot are interfaced with monster motor shield and then connected to the Arduino Mega. The speed of the robot is controlled using PWM signals sent from the Arduino board. When the robot starts, it locates its current position using the GPS module. The destination coordinates are already given in the code. Once the current location is fixed, it calculates the distance and heading between the two points. The compass module tells the current heading of the robot. The final heading is calculated by taking the difference between actual heading and current heading. With the help of final heading angle, the robot moves towards its desired location. As the robot moves close to the destination the distance reduces. The minimum distance is predefined as 5 meters in the algorithm since the precision of GPS module is within the range of 5 to 6 meters. Once the distance is less than 5 meters the robot stops, assuming it has reached to the destination location.

The purpose of building this robot was to guide the robot to multiple locations autonomously with the destination locations predefined in the algorithm. To maneuver the robot to the multiple locations it is very important to calculate the accurate distance and heading. For this project, the main task was to design an algorithm that can calculate the exact distance between any two locations and guide the robot in the proper direction. The motors used for this project have high torque and the updating speed of the GPS module is slow. It was very important to keep the speed of the motor very low and change the speed of the motor only when there was a need to change the direction of the robot. The algorithm designed was able to fulfill these tasks and guided the robot to multiple locations and reach the final destination.

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34

Israelsson, Torgny, e Youseff Shoumar. "Motion Detection with GPS". Thesis, KTH, Geodesi (stängd 20110301), 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199830.

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Using GPS technology in motion detection and deformation measurements are getting more common. Different concepts are used; GPS as a stand-alone system or together with other surveying methods. A lot of research is done in this field and several types of applications have been developed. In this work only GPS receivers are used and the focus is on centimetre level motions over short periods of time. Because the created horizontal motion is known the accuracy of the by GPS detected motion can be computed for different settings and in different environments. A brief overview of the limitations and error sources in GPS surveying is also given.The motions are monitored with a commercial software, Motion Tracker, from Trimble and with On-the-Fly processed data files from Trimble Total Control that are run in a Matlab program in order to get RMS values for the detected motions and plots showing the created true motion and the by GPS measured motion. In addition the procedure to write a batch file in order to run GNNET-RTK, a software from GEO++, is investigated. This software package makes it possible to simultaneously do real-time processing of several reference and rover stations.When the conditions for GPS surveying are good, the quality of detected motions show promising results. Millimetre accuracy is achieved even if only GPS sensors are used and the epochs are as short as one minute. In built up areas with a lot of obstructions of the sky the error sources and limitations of GPS, e.g. multipath, has a significant impact on the results and longer observation times are needed. In such areas this work indicates that for demanding high accuracy applications GPS needs other types of sensors as complement, to be able to provide stable reliable solutions with millimetre accuracy.

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35

Bender, Michael, e Armin Raabe. "Bodengestützte GPS Wasserdampf-Tomographie". Universität Leipzig, 2006. https://ul.qucosa.de/id/qucosa%3A15493.

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Die Signale des Global Positioning Systems (GPS) ermöglichen nicht nur die präzise Positionsbestimmung an jedem Ort der Erde, sondern enthalten auch Informationen über den Wasserdampfgehalt der Atmosphäre. Aus diesen Informationen kann mit Hilfe tomographischer Verfahren die dreidimensionale Wasserdampfverteilung in der Troposphäre rekonstruiert werden. Dabei ist es von besonderem Interesse, wie zuverlässig die Wasserdampfverteilung alleine aus den Daten bodengestützter GPS-Netzwerke, d. h. ohne die Einbeziehung von Low Earth Orbitern (LEOs) oder von Wettersatelliten, bestimmt werden kann. Zu diesem Zweck werden GPS-Daten für unterschiedliche GPS-Netzwerke simuliert und auf ihre Eignung für eine tomographische Rekonstruktion untersucht. Besonders der Zusammenhang zwischen der Anzahl der Satelliten, der Stationsdichte und der in der tomographischen Rekonstruktion erreichbaren Auflösung ist dabei von großer Bedeutung. Aus diesem Grund erfolgt zunächst eine geometrische Bewertung der GPS-Eingangsdaten. Die Rekonstruktion eines 3D-Feldes und die dabei auftretenden Abweichungen zwischen dem originalen und dem rekonstruierten Feld werden abschließend an einem Beispiel dargestellt.
The signals of the global positioning system (GPS) can not only be used to obtain the precise position all over the world but carry also information about the water vapour distribution in the atmosphere. This 3D distribution can be reconstructed from the GPS data by means of tomographic techniques. Of special interest is the quality of the reconstructed 3D distribution using data from GPS ground stations alone, without regarding low earth orbiters (LEOs) and weather satellites. Therefore, GPS data have been simulated for different model networks. A subsequent data validation shows the correlation between the number of GPS satellites, the density of ground stations and the spatial resolution of the water vapour field which might be obtained from a tomographic reconstruction. Some selected data sets have been used to reconstruct a given 3D distribution and to analyse variations between the initial model field and the results obtained with different tomographic techniques.

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36

Bender, Michael, e Armin Raabe. "Bodengestützte GPS Wasserdampf-Tomographie". Universitätsbibliothek Leipzig, 2017. http://nbn-resolving.de/urn:nbn:de:bsz:15-qucosa-221969.

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Die Signale des Global Positioning Systems (GPS) ermöglichen nicht nur die präzise Positionsbestimmung an jedem Ort der Erde, sondern enthalten auch Informationen über den Wasserdampfgehalt der Atmosphäre. Aus diesen Informationen kann mit Hilfe tomographischer Verfahren die dreidimensionale Wasserdampfverteilung in der Troposphäre rekonstruiert werden. Dabei ist es von besonderem Interesse, wie zuverlässig die Wasserdampfverteilung alleine aus den Daten bodengestützter GPS-Netzwerke, d. h. ohne die Einbeziehung von Low Earth Orbitern (LEOs) oder von Wettersatelliten, bestimmt werden kann. Zu diesem Zweck werden GPS-Daten für unterschiedliche GPS-Netzwerke simuliert und auf ihre Eignung für eine tomographische Rekonstruktion untersucht. Besonders der Zusammenhang zwischen der Anzahl der Satelliten, der Stationsdichte und der in der tomographischen Rekonstruktion erreichbaren Auflösung ist dabei von großer Bedeutung. Aus diesem Grund erfolgt zunächst eine geometrische Bewertung der GPS-Eingangsdaten. Die Rekonstruktion eines 3D-Feldes und die dabei auftretenden Abweichungen zwischen dem originalen und dem rekonstruierten Feld werden abschließend an einem Beispiel dargestellt
The signals of the global positioning system (GPS) can not only be used to obtain the precise position all over the world but carry also information about the water vapour distribution in the atmosphere. This 3D distribution can be reconstructed from the GPS data by means of tomographic techniques. Of special interest is the quality of the reconstructed 3D distribution using data from GPS ground stations alone, without regarding low earth orbiters (LEOs) and weather satellites. Therefore, GPS data have been simulated for different model networks. A subsequent data validation shows the correlation between the number of GPS satellites, the density of ground stations and the spatial resolution of the water vapour field which might be obtained from a tomographic reconstruction. Some selected data sets have been used to reconstruct a given 3D distribution and to analyse variations between the initial model field and the results obtained with different tomographic techniques

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37

Stříteský, Jan. "Sledování polohy pomocí GPS". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218284.

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The presented thesis deals with the subject of tracking via GPS and focuses on possibilities of the practical implementation of user tracking system with the help of mobile end user devices. The introductory theoretical part shortly describes the properties and history of the GPS navigation system. It outlines possible development of end user mobile applications on the level of operating systems and mobile web applications. The final theoretical part provides a short outline of properties of tacking systems available in the Czech market. The primary aim of the thesis was to create an application which would enable the tracking of user position via GPS. The practical part describes the selected solution as well as the individual parts of the designed tracking system. The resulting system allows to record and track user position determined by a mobile phone with an integrated GPS module. The systems also enables the creation of user groups, tracking their routes and visualization of the given position or entire route on a map.

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38

Švábeník, Petr. "Synchronizace času pomocí GPS". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218601.

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This thesis discusses about using the worldwide satellite system GPS for time and frequency synchronization. This thesis presents study about basic principles of the GPS system, its segments and ways of using this system. Some GPS receivers suitable for receiving the time marks (pulses) used for time synchronization are described. Thesis contents designing of the circuit that will receive time marks and it will digitalize and record external signal and send it with precision time information to PC for displaying and post processing. Thesis also discusses about both hardware and software development of the synchronization module and software used in PC.

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39

Sanaei, Akbar. "Instrumented combine harvester based reliable yeild mapping aided by GIS/GPS". Thesis, University of Newcastle Upon Tyne, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.262893.

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40

Foust, Nathaniel E. "A Spatiotemporal GIS Analysis of GPS Effects on Archaeological Site Variability". University of Cincinnati / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439306878.

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41

Seals, Kelly Charles. "Enhanced Acquisition Techniques for GPS L1C Receivers". Digital WPI, 2014. https://digitalcommons.wpi.edu/etd-dissertations/71.

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A new, open-access Global Positioning System (GPS) signal, known as L1C, is the most recent of several modernized Global Positioning System (GPS) signals. The first launch of a GPS satellite with this signal is expected to occur within a few years. One of the interesting features of modern Global Navigation Satellite System (GNSS) signals, including GPS L1C, is the presence of data and pilot components. The pilot component is a carrier with a deterministic overlay code but no data symbols; whereas, the data component carries the navigation data symbols used in the receiver processing. A unique aspect of GPS L1C is the asymmetrical power split between the two components, 75% of the power is used for the pilot and the remaining power, or 25%, for the data. In addition, the pilot and the data components are transmitted in phase with orthogonal spreading codes. Unassisted acquisition of GNSS spread spectrum signals requires a two-dimensional search for the spreading code delay and Doppler frequency. For modern two-component GNSS signals, conventional GNSS acquisition schemes may be used on either component, correlating the received signal with either the pilot or the data spreading code. One obvious disadvantage of this approach is the wasting of power; hence, new techniques for combining, or joint acquisition of the pilot and the data components, have been proposed. In this dissertation, acquisition of GPS L1C is analyzed and receiver techniques are proposed for improving acquisition sensitivity. Optimal detectors for GPS L1C acquisition in additive white Gaussian noise are derived, based on various scenarios for a GPS receiver. Monte Carlo simulations are used to determine the performance of these optimal detectors, based on detection and false alarm probabilities. After investigating the optimal detectors for GPS L1C acquisition, various sub-optimal detectors that are more efficient to implement are thoroughly investigated and compared. Finally, schemes for joint acquisition of L1C and the legacy GPS C/A code signal are proposed and analyzed.

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42

Streletskiy, Y. S. "Global positioning system". Thesis, Sumy State University, 2015. http://essuir.sumdu.edu.ua/handle/123456789/40496.

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Space exploration has a great meaning for mankind. There are many space technologies that have been explored for space, but then transformed for human everyday use. One of such technologies is GPS navigation.

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43

Hart, Dennis L., Johnny J. Pappas e John E. Lindegren. "Desktop GPS Analyst Standardized GPS Data Processing and Analysis on a Personal Computer". International Foundation for Telemetering, 1996. http://hdl.handle.net/10150/611424.

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International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, California
In the last few years there has been a proliferation of GPS receivers and receiver manufacturers. Couple this with a growing number of DoD test programs requiring high accuracy Time-Space-Position-Information (TSPI) with diminishing test support funds and/or needing a wide area, low altitude or surface tracking capability. The Air Force Development Test Center (AFDTC) recognized the growing requirements for using GPS in test programs and the need for a low cost, portable TSPI processing capability which sparked the development of the Desktop GPS Analyst. The Desktop GPS Analyst is a personal computer (PC) based software application for the generation of GPS-based TSPI.

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44

Jackson, James Scott. "Enabling Autonomous Operation of Micro Aerial Vehicles Through GPS to GPS-Denied Transitions". BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/8709.

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Micro aerial vehicles and other autonomous systems have the potential to truly transform life as we know it, however much of the potential of autonomous systems remains unrealized because reliable navigation is still an unsolved problem with significant challenges. This dissertation presents solutions to many aspects of autonomous navigation. First, it presents ROSflight, a software and hardware architure that allows for rapid prototyping and experimentation of autonomy algorithms on MAVs with lightweight, efficient flight control. Next, this dissertation presents improvments to the state-of-the-art in optimal control of quadrotors by utilizing the error-state formulation frequently utilized in state estimation. It is shown that performing optimal control directly over the error-state results in a vastly more computationally efficient system than competing methods while also dealing with the non-vector rotation components of the state in a principled way. In addition, real-time robust flight planning is considered with a method to navigate cluttered, potentially unknown scenarios with real-time obstacle avoidance. Robust state estimation is a critical component to reliable operation, and this dissertation focuses on improving the robustness of visual-inertial state estimation in a filtering framework by extending the state-of-the-art to include better modeling and sensor fusion. Further, this dissertation takes concepts from the visual-inertial estimation community and applies it to tightly-coupled GNSS, visual-inertial state estimation. This method is shown to demonstrate significantly more reliable state estimation than visual-inertial or GNSS-inertial state estimation alone in a hardware experiment through a GNSS-GNSS denied transition flying under a building and back out into open sky. Finally, this dissertation explores a novel method to combine measurements from multiple agents into a coherent map. Traditional approaches to this problem attempt to solve for the position of multiple agents at specific times in their trajectories. This dissertation instead attempts to solve this problem in a relative context, resulting in a much more robust approach that is able to handle much greater intial error than traditional approaches.

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45

Andrade-Sanchez, Pedro, e John T. Heun. "From GPS to GNSS: Enhanced Functionality of GPS-Integrated Systems in Agricultural Machines". College of Agriculture and Life Sciences, University of Arizona (Tucson, AZ), 2012. http://hdl.handle.net/10150/225853.

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46

Karlsson, Henrik, Per Wilenius e Hans Berntson. "Dräneringsunderlag för Kobergs golfbana". Thesis, University West, Department of Technology, Mathematics and Computer Science, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-675.

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47

Schmitz, Martin. "Untersuchungen zur strengen GPS-Parametrisierung in der gemeinsamen Ausgleichung von kinematischem GPS und Aerotriangulation". Hannover : Fachrichtung Vermessungswesen der Univ, 1998. http://deposit.ddb.de/cgi-bin/dokserv?idn=956054994.

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48

Johnston, Gary Michael, e n/a. "GPS heighting : the effect of the GPS antenna phase center variation on height determination". University of Canberra. Management & Technology, 2000. http://erl.canberra.edu.au./public/adt-AUC20060802.155533.

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Abstract (sommario):

This thesis examines the effect on height determination of the antenna phase centre variation of GPS user segment antennae. A discussion of the various antenna types in common use is followed by an explanation of the problem at hand. In particular the effect of the antenna's environment on the phase centre variation is covered more fully, since the phase variation phenomenon itself is largely unexplained in the engineering community to date. A number of examples of the heighting errors caused by this phenomenon are presented, followed by specifically designed experiments, which quantify the effect. Finally the phase centre variation itself is modelled for a particular GPS antenna in common use by surveyors in Australia. The overall conclusion, arrived at by demonstration, is that the antenna phase centre offsets and the variation model are very important for high accuracy determinations of height.

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49

Mattos, Philip G. "A novel GPS receiver architecture : concept, design and implementation of a novel GPS receiver". Thesis, University of Bristol, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.336231.

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50

Mahdere, Yafet. "Egenskap och precision av GNSS BeiDou, Navstar (GPS), GLONASS samt kombinationen av GPS/GLONASS". Thesis, Luleå tekniska universitet, Institutionen för samhällsbyggnad och naturresurser, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-83207.

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Eftersom att både GNSS GPS och GLONASS har många likheter så finns möjlighet att utnyttja systemen i kombination. Dock föreligger olikheter vilket gör att systemen inte är fullkomlig kompatibla med varandra. Diskrepans i koordinater och tidsram utgör ett stort hinder för att kombinera dessa system. Men lösningar för koordinatstransformering har tagits fram för att eliminera dessa divergenser (Roßbach, 2001) BeiDou GNSS system till skillnad från GNSS GPS/GLONASS är ett av det senaste etablerade navigationssystem, vilket ställer frågor för användare om systemets kvalitéer och brister. Denna studie behandlar väldigt översiktligt om hur BeiDou systemet tillkom och bakgrunden, karaktärer samt ambitionen som är framlagt för systemet. BeiDou som ursprungligen kallades för COMPASS hade inte samma ändamål som GLONASS och GPS att tillfredsställa sina användare med globalt navigationssystem, intentionen med systemet var mestadels för positioneringssystem som skulle användas regionalt och för militära ändamål, men med tiden ökade ambitionen hos tillverkaren och en ny plan alstrades. planen var att satsa på att bli en av världsledande positionering och navigationssystem, och det skulle etableras och utnyttjas världen över. GLONASS och NAVSTARs GPS vilka är stora konkurrenter av produktutveckling inom rymd teknologi, har framställt världens mest noggranna och effektiva satellitsystemen. Även om ändamålen för dessa systemen hade sin utgångspunkt för applikation inom det militära avseende, har de gjort tillgängliga för diverse civil användning. GNSS GPS/GLONASS kan i vissa fall visa brister på uppkopplingshastighet men också mätningsprecision vid användning på egen hand, detta p.g.a. att antalet synliga och uppnåbara satelliter är begränsande. Detta har gett upphov till vidare studier inom systemens karaktärer samt implementering av kombination GNSS GPS/GLONASS. Emedan både systemen tillsammans består av 48 satelliter, att hitta tillfredställande antal satelliter under alla omständigheter underlättas. Systemen innehöll implikationer i sina grundinställningar som försvårar tillämpning av dessa i kombination. Satelliterna skickar information om sina positioner på två olika metoder, PZ-90 för GLONASS och WGS-84 för GPS. Metoderna är väldigt lika varandra med skiljer sig någorlunda i sättet de utför sina beräkningar. Denna skiljaktighet skapades då systemen ej hade som avsikt att samarbeta och eventuellt integrera med varandra vilket gjorde att utvecklingen av båda GNSS gick isär. Detta innebär att transformation av satellitinformation är nödvändigt för att uppnå tillförlitliga lösningar, då GNSS ska sammanställas och användas integrerat.

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