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Field Application of Global Positioning System01:28

Field Application of Global Positioning System

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The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
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Gyroscope01:02

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A gyroscope is defined as a spinning disk in which the axis of rotation is free to assume any orientation. When spinning, the orientation of the spin axis is unaffected by the orientation of the body that encloses it. The body or vehicle enclosing the gyroscope can be moved from place to place, while the orientation of the spin axis remains the same. This makes gyroscopes very useful in navigation, especially where magnetic compasses cannot be used, such as in crewed and crewless spacecraft,...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Introduction to Global Positioning System01:30

Introduction to Global Positioning System

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

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Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
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Errors in Global Positioning System01:26

Errors in Global Positioning System

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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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Related Experiment Video

Updated: May 25, 2025

Visualization Method for Proprioceptive Drift on a 2D Plane Using Support Vector Machine
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Implementation of Visual Odometry on Jetson Nano.

Jakub Krško1, Dušan Nemec1, Vojtech Šimák1

  • 1Department of Control and Information Systems, FEIT, University of Zilina, 010 26 Zilina, Slovakia.

Sensors (Basel, Switzerland)
|February 26, 2025
PubMed
Summary
This summary is machine-generated.

This study implements ORB-SLAM3 for robot visual odometry on a Jetson Nano, achieving accurate localization with low-power systems. Challenges and error sources are discussed for real-world mobile robot tracking.

Keywords:
Jetson NanoORB-SLAM3single board computervisual SLAMvisual odometry

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Area of Science:

  • Robotics
  • Computer Vision
  • Embedded Systems

Background:

  • Visual odometry is crucial for robot navigation.
  • Implementing advanced algorithms on low-power systems presents unique challenges.
  • ORB-SLAM3 offers robust visual SLAM capabilities.

Purpose of the Study:

  • To implement and evaluate ORB-SLAM3 for visual odometry on a low-power ARM-based system (Jetson Nano).
  • To assess the accuracy and limitations of ORB-SLAM3 for mobile robot tracking in diverse environments.

Main Methods:

  • Adaptation of the ORB-SLAM3 algorithm for ARM architecture.
  • System optimization, including software library selection and camera calibration.
  • Testing using the EuRoC dataset and real-world mobile robot experiments.

Main Results:

  • Accurate localization achieved, with path estimation errors between 3-11 cm on the EuRoC dataset.
  • Real-world tests identified discrepancies due to encoder drift and environmental factors (lighting, texture).

Conclusions:

  • ORB-SLAM3 is viable for low-power visual odometry on embedded systems.
  • Error mitigation strategies like enhanced calibration and sensor fusion are necessary for real-world applications.
  • Future work includes trajectory correction and improved integration with other robotic systems.