This paper is experiencing the localization of a mobile platform through a multi-antenna GNSS-RTK system in order to implement the system for the localization of the mobile construction robots. The approach introduced here shows the components of the system and a manner in which the localization coordinates and errors are determined. Furthermore, it establishes the accurate localization errors based on an experiment in which the mobile platform moves in similar conditions to those of a construction site.

No abstract

Geometrijski parametri koji u potpunosti opisuju bilo koje obrtanje u zglobu ili translaciju u kinematičkom lancu su:x , meren u smeru suprotnom od kretanja kazaljke na satu, oko ose