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Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm
J. Kadeřábek, V. Shapoval, P. Matějka, M. Kroulík, F. Kumhála
Jazyk angličtina Země Švýcarsko
Typ dokumentu časopisecké články
PubMed Central od 2003
Europe PubMed Central od 2003
ProQuest Central od 2001-01-01
Open Access Digital Library od 2001-01-01
Open Access Digital Library od 2003-01-01
Health & Medicine (ProQuest) od 2001-01-01
ROAD: Directory of Open Access Scholarly Resources od 2001
Odkazy
PubMed
34883796
DOI
10.3390/s21237794
Knihovny.cz E-zdroje
- MeSH
- pohyb těles MeSH
- pohyb MeSH
- roboticky asistované výkony * MeSH
- záznamy jako téma MeSH
- zrychlení MeSH
- Publikační typ
- časopisecké články MeSH
While the existing research provides a wealth of information about the static properties of RTK receivers, less is known about their dynamic properties, although it is clear that the vast majority of field operations take place when the machine is moving. A new method using a MRA for the evaluation of RTK receivers in movement with a precise circular reference trajectory (r = 3 m) was proposed. This reference method was developed with the greatest possible emphasis on the positional, time and repeatable accuracy of ground truth. Four phases of the measurement scenario (static, acceleration, uniform movement and deceleration) were used in order to compare four different types of RTK receiver horizontal operation accuracy over three measurement days. The worst result of one of the receivers was measured at SSR = 13.767% in dynamic movement. Since the same "low-cost" receiver without an INS unit had SSR = 98.14% in previous static measurements, so it can be assumed that the motion had a very significant effect on the dynamic properties of this receiver. On the other hand, the best "high-end" receiver with an INS unit had SSR = 96.938% during the dynamic testing scenarios. The median values of the deviations were always better during uniform movements than during acceleration or braking. In general, the positioning accuracy was worse in the dynamic mode than in the static one for all the receivers. Error indicators (RMSerr and Me) were found several times higher in the dynamic mode than in the static one. These facts should be considered in the future development of modern agricultural machinery and technology.
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- $a While the existing research provides a wealth of information about the static properties of RTK receivers, less is known about their dynamic properties, although it is clear that the vast majority of field operations take place when the machine is moving. A new method using a MRA for the evaluation of RTK receivers in movement with a precise circular reference trajectory (r = 3 m) was proposed. This reference method was developed with the greatest possible emphasis on the positional, time and repeatable accuracy of ground truth. Four phases of the measurement scenario (static, acceleration, uniform movement and deceleration) were used in order to compare four different types of RTK receiver horizontal operation accuracy over three measurement days. The worst result of one of the receivers was measured at SSR = 13.767% in dynamic movement. Since the same "low-cost" receiver without an INS unit had SSR = 98.14% in previous static measurements, so it can be assumed that the motion had a very significant effect on the dynamic properties of this receiver. On the other hand, the best "high-end" receiver with an INS unit had SSR = 96.938% during the dynamic testing scenarios. The median values of the deviations were always better during uniform movements than during acceleration or braking. In general, the positioning accuracy was worse in the dynamic mode than in the static one for all the receivers. Error indicators (RMSerr and Me) were found several times higher in the dynamic mode than in the static one. These facts should be considered in the future development of modern agricultural machinery and technology.
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