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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.

Abstract. The Fibaro is a system for automation of smart households, which ensures not only the functions of comfort and power saving, but it also offers the security functions. These security functions were checked and examined in this paper from several perspectives. The evaluation of two submitted model realizations of Intruder and Hold-Up Alarm Systems (I&HAS) with using of the Fibaro system was presented: the Proprietary model, which works with manufacturers' detectors, and the Integration model including the standard loop I&HAS to the Fibaro system. These comfort functions were examined in this paper from the point of view of the functional safety and fulfillment of the normative requirements for the I&HAS. The examination of functional reliability consisted of verification of the ability of the control unit to correctly respond to changes in detection conditions inducted through the relevant sensor. The functional tests were conducted in several steps. Thanks to the functional tests the unreliability of the control unit Fibaro HC Lite to register a larger number of detection messages had to be confirmed. The result of this work was the demonstration of inappropriateness of utilisation of installations according to the Proprietary model. Simultaneously the Integration model was evaluated from a point of view of valid norms with assigning of the first security level, however, the conditions unaffected the I&HAS.

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