<abstract><title style='display:none'>Abstract</title>Currently, UAVs are intensively being introduced into topographic-photogrammetric production for topographic digital aerial photography and laser scanning. These technologies have a number of advantages: they don’t require specially prepared platforms and launchers, they are relatively inexpensive unlike large aircrafts, and they are safe. However, there are still many unsolved problems for ultralight UAVs, especially when the aerial photography is made. As you know, the requirements for the implementation of the aerial survey process are quite stringent, first of all, for horizontal flight: the angles of inclination must be within 3–5 degrees, since exceeding these tolerances significantly affects the accuracy for determining the spatial coordinates of objects. Therefore, there was an idea to conduct researches of dependences between the pitch α, roll ω and yaw κ. For this purpose, 100 images obtained from aircraft-type UAV ‘Arrow’ developed and created by specialists from Lviv Polytechnic National University and ‘Abris’ were used. As a result of the study, the multiple correlation coefficient and the parameters of the linear regression equation for the angular elements of the exterior orientation of digital images were calculated. In addition, statistical quality evaluations for the obtained regression model were carried out. Analysis of the received data allows to assert that angular elements of exterior orientation are correlated with each other. Therefore, in the further imaging materials, processing it becomes possible to make compensation of this fact and to improve calculation accuracy of spatial coordinates of points.</abstract>

Determining of correlation relationship between roll, pitch, and yaw for UAVs

<abstract><title style='display:none'>Abstract</title>Intensified investment processes in construction have resulted in increased interest in the methods of efficient detection, verification and location of underground utility networks. In addition to the well-known pipe and cable locating equipment, which has increased its efficiency and reliability through the development of technologies, GPRs are becoming more and more popular.This publication presents the results of the experimental research carried out with the use of GPRs manufactured by two different companies as well as the results of the verification of underground utilities in real conditions. The GPRs have worked in the mode of the real-time location of their own position using the GNSS system or robotic total stations.The GPR (Ground Penetrating Radar) surveys performed on a test field, consisting of 9 pipes with a known position, were aimed at assessing the accuracy of their identification on echograms. The utility line location errors were determined using three different combinations between the GPR and the locating instrument. It allowed the evaluation of the possibility of using these solutions for detection, verification and location of underground utility networks in the light of the Polish legal regulations and the British specification PAS 128.The verification in real conditions was carried out in a typical urban space, characterised by an intense occurrence of underground utilities, that is, sewage systems, gas pipelines and power cables. It was based on the GESUT database captured from the county geodetic and cartographic documentation centre. The results of the visual analysis of the materials captured with the help of two measurement systems were described in detail, however, the verification was carried out only for one set of data. The authors have presented the procedure of processing echograms and detecting the location of pipeline axes based on their vectorisation. The authors of this research paper have performed a numerical analysis of the compliance of the profiles of utility lines with the information from the base map for two variants of the GPR data integration with the coordinates. The authors of this research paper have also presented an alternative concept of capturing the profile of a utility line in the field based on the processing of GPR data in 3D – the so-called C-scan. The conclusions summarise the possible factors affecting the surveying results and the methods of eliminating sources of errors, both for the GPR and geodetic data.</abstract>

GPR surveying method as a tool for geodetic verification of GESUT database of utilities in the light of BSI PAS128

<abstract><title style='display:none'>Abstract</title> Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.</abstract>

Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

<abstract>
<title style='display:none'>Abstract</title>
Exchange of and access to spatial data is the principal goal of any Spatial Data Infrastructure, therefore, one of the key concepts of SDI is interoperability, especially semantic and syntactic. Whereas application schemas and quality issues are one of the aspects that have to be considered to ensure a successful data interchange in SDI.
Two types of application schema are widely used in the European SDI as well as in the Polish SDI. They cover both semantic and syntactic interoperability and are an integral parts of spatial data specifications and relevant regulations in the form of data models. However, working out accurate and correct application schemas may be a challenge.
Additionally, faulty or too complex application schemas can influence the ability for valid data interchange, and consequently, prevent achieving interoperability within SDI. Therefore, the capability to examine and estimate the UML and GML application schemas quality seems to be a worthwhile and important issue in the context of semantic and syntactic interoperability in SDI.
The main subject of this article it to set out the context of performed studies, among others, the role of application schema in the interoperable data exchange, issues related to the concept of quality and its measures.
</abstract>

Considerations about the quality of UML and GML application schemas

<abstract><title style='display:none'>Abstract</title> Currently the number of solar farms, as a type of renewable sources of energy, is growing rapidly. Photovoltaic power stations have many advantages, which is an incentive for their building and development. Solar energy is readily available and inexhaustible, and its production is environmentally friendly. In the present study multiple environmental and economic criteria were taken into account to select a potential photovoltaic farm location, with particular emphasis on: protected areas, land cover, solar radiation, slope angle, proximity to roads, built-up areas, and power lines. Advanced data analysis were used because of the multiplicity of criteria and their diverse influence on the choice of a potential location. They included the spatial analysis, the Weighted Linear Combination Technique (WLC), and the Analytic Hierarchy Process (AHP) as a decisionmaking method. The analysis was divided into two stages. In the first one, the areas where the location of solar farms was not possible were excluded. In the second one, the best locations meeting all environmental and economic criteria were selected. The research was conducted for the Legionowo District, using data from national surveying and mapping resources such as: BDOT10k (Database of Topographic Objects), NMT (Numerical Terrain Model), and lands and buildings register. Finally, several areas meeting the criteria were chosen. The research deals with solar farms with up to 40 kW power. The results of the study are presented as thematic maps. The advantage of the method is its versatility. It can be used not only for any area, but with little modification of the criteria, it can also be applied to choose a location for wind farms.</abstract>

Multi-Criteria Analysis for Solar Farm Location Suitability

<abstract><title style='display:none'>Abstract</title> Proposals of algorithms for solving Navigation faculty’s problems regarding navigation along rhumb line (loxodrome), for officer trainees and civil students of Faculty of Navigation and Naval Weapons and for deck seamen on operational level, are presented in this paper. Proposals of calculation algorithms given in the article cover simple mathematical totting based on plane sailing (navigational) triangle and Mercator triangle (Mercator sailing). The algorithms refer to traditional methods of solving problems and they do not cover solutions applicable in automated (integrated) navigational systems. The formulas enable to solve the tasks with a use of electronic calculator and application of traditional methods on plane and sphere, and they also take the Earth’s ellipsoidal shape into consideration.</abstract>

Rhumb-Line Sailing by Computation

<abstract>
<title style='display:none'>Abstract</title>
The “Kłodawa” salt mine, due to geological conditions and continuous salt extraction, is subject to a range of measurements documenting the speed of changes in the geometry of the chambers. Cyclic surveys are conducted under challenging conditions several hundred metres underground. Consequently, measurement methods used for determining the parameters of the ongoing clamping should be of high precision but also be resistant to dense dust (in fields of active mining) and strong gusts (near ventilation shafts).
The research presented here concerns the analysis of the possibilities of solutions offered by modern technologies in mine conditions. Test measurements were conducted at observation stations using linear bases stabilized with metal pins. The base points were located in the aisles, ceiling, and bottom of the chamber in Field 1 of “Kłodawa” salt mine at the depth of 600m. Point clouds mapping the object were acquired using a Leica RTC360 3D laser scanner and two mobile devices: Motorola G100 smartphone and iPad Pro with LiDAR technology using the Pix4Dcatch application. The accuracy of the point cloud from the Leica RTC360 3D laser scanner was determined by comparing it with classic measurements taken with a Leica Disto laser rangefinder. The repeatability and accuracy of the point cloud from a smartphone were examined using statistical analysis based on Pearson’s correlation coefficient and cross-correlation. An attempt was also made to approximate the correlation between the obtained errors and two parameters: the number of images and the size of the object.
</abstract>

Accuracy of the application of mobile technologies for measurements made in headings of the Kłodawa Salt Mine

<abstract>
<title style='display:none'>Abstract</title>
This study presents a short-term forecast of UT1-UTC and LOD using two methods, i.e. Dynamic Mode Decomposition (DMD) and combination of Least-Squares and Vector Autoregression (LS+VAR). The prediction experiments were performed separately for yearly time spans, 2018-2022. The prediction procedure started on January 1 and ended on December 31, with 7-day shifts between subsequent 30-day forecasts. Atmospheric Angular Momentum data (AAM) were used as an auxiliary time series to potentially improve the prediction accuracy of UT1-UTC and LOD in LS+VAR procedure. An experiment was also conducted with and without elimination of effect of zonal tides from UT1-UTC and LOD time series. Two approaches to using the best steering parameters for the methods were applied:. First, an adaptive approach, which observes the rule that before every single forecast, a preliminary one must be performed on the pre-selected sets of parameters, and the one with the smallest prediction error is then used for the final prediction; and second, an averaged approach, whereby several forecasts are made with different sets of parameters (the same parameters as in adaptive approach) and the final values are calculated as the averages of these predictions. Depending on the method and data combination mean absolute prediction errors (MAPE) for UT1-UTC vary from 0.63 ms to 1.43ms for the 10th day and from 3.07 ms to 8.05ms for the 30th day of the forecast. Corresponding values for LOD vary from 0.110 ms to 0.245 ms for the 10th day and from 0.148 ms to 0.325 ms for the 30th day.
</abstract>

Short-term prediction of UT1-UTC and LOD via Dynamic Mode Decomposition and combination of least-squares and vector autoregressive model

<abstract>
<title style='display:none'>Abstract</title>
The launch of dedicated satellite gravity missions (CHAMP, GRACE, GOCE, and GRACE–FO), as well as the availability of gravity data from satellite altimetry and terrestrial/airborne gravity measurements have led to a growing number of Global Geopotential Models (GGMs) developed. Thus, the evaluation of GGMs is necessary to ensure their accuracy in recovering the Earth’s gravity field on local, regional, and global scales. The main objective of this research is to assess the accuracy of recent GGMs over Poland in Central Europe and Ethiopia in East Africa.
Combined GGMs of high (degree and order (d/o) 2190) and ultra high-resolution (d/o 5540) as well as five satellite-only GGMs were evaluated using gravity data from absolute gravity measurements and airborne gravity surveys over Poland and Ethiopia, respectively. Based on this evaluation, the estimated accuracy of the high-resolution combined GGM is at the level of 2 mGal. The estimated accuracy for the ultra-high-resolution combined GGM is ~2.5 times lower. The satellite-only GGMs investigated recover the gravity signal at an accuracy level of 10 mGal and 26 mGal, for the areas of Poland and Ethiopia, respectively. When compensating for the omitted gravity signal using a high-resolution combined GGM and the topography model, an accuracy of 2 mGal can be achieved.
</abstract>

Accuracy assessment of high and ultra high-resolution combined GGMs, and recent satellite-only GGMs – Case studies of Poland and Ethiopia

<abstract>
<title style='display:none'>Abstract</title>
The determination of a lake or natural watercourse shoreline is the subject of various administrative proceedings relating to, among others, the engineering of riverbeds, construction of hydro-technical facilities, remediation work, land division, or delimitation of parcels. The provisions of law, while laying out the rules for determining shorelines, do not explicitly specify the measurement method to follow. All the more so, as many shores of lakes and watercourses are among terrain details that are difficult to measure due to their varied accessibility, which depends on the terrain, vegetation, and water conditions. The purpose of this paper is to compare selected methods for determining the shoreline of watercourses and lakes in terms of their applicability under different environmental conditions under current legislation. This study comprises an assessment of the suitability of the applied methods of shoreline measurement under varying field conditions and their applicability in surveying work on shoreline determination. Surveys were conducted on 3 reservoirs and one watercourse using geodetic, photogrammetric, and remote sensing techniques, and the suitability of the various methods was evaluated with respect to the field conditions of the measurements.
</abstract>

Selected methods for determining inconclusively identifiable shorelines of watercourses and lakes

<abstract>
<title style='display:none'>Abstract</title>
Participation of the parties in works related to the boundaries a˛ects the determination of boundaries according to the owners’ consistent indications, or allows for an appropriate reaction when determining the boundary points of the previously ~xed boundaries, i.e. referring the case to court in the event of a dispute regarding the location of boundary marks. It is important that the owners of neighboring parcels know their boundaries before any investment activities. The lack of this knowledge combined with the lack of legal security regarding boundaries in the event of con˚icts between owners of neighboring parcels may result in, in addition to sending the case to court, serious consequences, e.g. demolition of a fence built in the wrong place, demolition of a house built too close to the boundary. The legal solutions discussed here concern the Polish cadastre, but the issue itself can be said to go beyond the local scale as it potentially concerns the problem of properly determining the scope of ownership rights (boundaries) to parcels in other countries. The article discusses and analyzes the documentation prepared by licensed surveyors in the context of the validity of applicable boundary procedures in Poland regarding the participation of the parties in these activities. Analyzes have proven that focusing these procedures on correctly notifying the parties about given boundary activities is not the right approach. Such solutions only bring results in terms of correctly notifying the parties about the activities and do not lead to their actual participation in them.
</abstract>

The issue of parties’ participation in technical activities related to the boundaries of parcels

<abstract>
<title style='display:none'>Abstract</title>
Automated guidance systems for precision agriculture rely on Global Navigation Satellite Systems (GNSS) and correction services for high accuracy and precision in field operations. This study evaluates the performance of selected GNSS positioning services for precision agriculture in a field experiment. We use three correction services: SF1, SF3, and RTK, which apply varying positioning concepts, i.e., Wide Area Differential GNSS, Precise Point Positioning, and Real-Time Kinematics, respectively. The tractor is autonomously steered along multiple predefined paths located in open-sky areas as well as near the heavy tree cover. The reference route of the vehicle is determined by classical surveying. Tractor trajectories, a SF1 and SF3 corrections, are shifted from predefined straight paths, unlike in the case for RTK. Offsets of up to several decimeters are service- and area-specific, indicating an issue with the stability of the reference frame. Additionally, the varying performance of the correction services implies that environmental conditions limit the precision and accuracy of GNSS positioning in precision agriculture. The pass-to-pass analysis reveals that SF1 improves the declared accuracy, while SF3 is less reliable in obstructed areas. RTK remains a stable source for determining position. Under favorable conditions, the pass-to-pass accuracy at 95% confidence level is better than 11.5 cm, 8.5 cm, and 4.5 cm for SF1, SF3, and RTK, respectively. In the worst-case scenario, the corresponding accuracies are: 25.5 cm, 65.5 cm, and 22.5 cm.
</abstract>

A comparative analysis of the performance of various GNSS positioning concepts dedicated to precision agriculture

<abstract><title style='display:none'>Abstract</title>The study area is focused on the Kuril–Kamchatka Trench, North Pacific Ocean. This region is geologically complex, notable for the lithosphere activity, tectonic plates subduction and active volcanism. The submarine geomorphology is complicated through terraces, slopes, seamounts and erosional processes. Understanding geomorphic features of such a region requires precise modelling and effective visualization of the high-resolution data sets. Therefore, current research presents a Generic Mapping Tools (GMT) based algorithm proposing a solution for effective data processing and precise mapping: iterative module-based scripting for the automated digitizing and modelling. Methodology consists of the following steps: topographic mapping of the raster grids, marine gravity and geoid; semi-automatic digitizing of the orthogonal cross-section profiles; modelling geomorphic trends of the gradient slopes; computing raster surfaces from the xyz data sets by modules nearneighbor and XYZ2grd. Several types of the cartographic projections were used: oblique Mercator, Mercator cylindrical, conic equal-area Albers, conic equidistant. The cross-section geomorphic profiles in a perpendicular direction across the two selected segments of the trench were automatically digitized. Developed algorithm of the semi-automated digitizing of the profiles enabled to visualize gradients of the slope steepness of the trench. The data were then modelled to show gradient variations in its two segments. The results of the comparative geomorphic analysis of northern and southern transects revealed variations in different parts of the trench. Presented research provided more quantitative insights into the structure and settings of the submarine landforms of the hadal trench that still remains a question for the marine geology. The research demonstrated the effectiveness of the GMT: a variety of modules, approaches and tools that can be used to produce high-quality mapping and graphics. The GMT listings are provided for repeatability.</abstract>

Topographic surface modelling using raster grid datasets by GMT: example of the Kuril–Kamchatka Trench, Pacific Ocean

<abstract><title style='display:none'>Abstract</title>The aim of this paper is to present the need for changes of geodetic-legal procedures for the cadastre and real estate management. This problem was analyzed both in theoretical and practical terms. In order to better present the analyzed technical and legal procedures, a study of several cases of surveying documentation was made. On their example the problems associated with the surveying services were shows and the formal and legal procedures, on the basis of which described surveying works were done were verified. The problem presented is current and valid not only for the comfort of the surveyor's work, but also from the point of view of the structure and modernization of the real estate cadastre, constituting the backbone of the real estate management. The article emphasized the need to unify the databases of state registers and the digitization of the National Geodetic and Cartographic Resources (PZDGiK). Research has shown that despite the continuous changes of legislation, there are still many shortcomings and gaps, which often complicate the surveying works. The surveyor must analyze and verify all materials he uses, including those obtained from the Centre of Geodetic and Cartographic Documentation (ODGiK). The quality of the geodetic and cartographic elaboration depends largely on the work of the Centre of Geodetic and Cartographic Documentation. The need of modernization of the Land and Buildings Registry, which acts as a cadastre in Poland, has been demonstrated. Furthermore, the unification of data used as reference systems both for plane coordinates and elevation has been proposed.</abstract>

Proposals for Changes in Surveying-Legal Procedures for the Needs of Cadastre in Poland

<abstract><title style='display:none'>Abstract</title>Precise Point Positioning (PPP) is a technique used to determine the position of receiver antenna without communication with the reference station. It may be an alternative solution to differential measurements, where maintaining a connection with a single RTK station or a regional network of reference stations RTN is necessary. This situation is especially common in areas with poorly developed infrastructure of ground stations. A lot of research conducted so far on the use of the PPP technique has been concerned about the development of entire day observation sessions. However, this paper presents the results of a comparative analysis of accuracy of absolute determination of position from observations which last between 1 to 7 hours with the use of four permanent services which execute calculations with PPP technique such as: Automatic Precise Positioning Service (APPS), Canadian Spatial Reference System Precise Point Positioning (CSRS-PPP), GNSS Analysis and Positioning Software (GAPS) and magicPPP - Precise Point Positioning Solution (magicGNSS). On the basis of acquired results of measurements, it can be concluded that at least two-hour long measurements allow acquiring an absolute position with an accuracy of 2-4 cm. An evaluation of the impact on the accuracy of simultaneous positioning of three points test network on the change of the horizontal distance and the relative height difference between measured triangle vertices was also conducted. Distances and relative height differences between points of the triangular test network measured with a laser station Leica TDRA6000 were adopted as references. The analyses of results show that at least two hours long measurement sessions can be used to determine the horizontal distance or the difference in height with an accuracy of 1-2 cm. Rapid products employed in calculations conducted with PPP technique reached the accuracy of determining coordinates on a close level as in elaborations which employ Final products.</abstract>

A Comparative Study of Precise Point Positioning (PPP) Accuracy Using Online Services

<abstract><title style='display:none'>Abstract</title> This paper presents the accuracy investigation results and functionality of Ubisense RTLS positioning system. Three kinds of studies were conducted: test of calibration accuracy, analysis of theoretical accuracy of the coordinates determination as well as accuracy measurements in field conditions. Test of calibration accuracy was made with several different geometric constellation of reference points (tag positions). We determined changes of orientation parameters of receivers and disturbance of positioning points coordinates against chosen reference points constellations. Analysis of theoretical accuracy was made for several receivers spatial positions and their orientations. It allowed to indicate favourable and unfavourable measurement area considering accuracy and reliability. Real positioning accuracy of the Ubisense system was determined by comparison with coordinates measured using precise tacheometer TCRP1201+. Results of conducted experiments and accuracy analysis of test measurement were presented in figures and diagrams.</abstract>

INVESTIGATION OF PRACTICAL AND THEORETICAL ACCURACY OF WIRELESS INDOOR POSITIONING SYSTEM UBISENSE

<abstract><title style='display:none'>Abstract</title> In this paper is given an information about complex geodetic research in Ukrainian Antarctic station “Academician Vernadsky”. Research were carried by Lviv polytechnic scientists, during Antarctic expeditions in years 2002 - 2005, 2013, 2014. Main objectives of the studies were: (a) study of the islands glaciers surface volumes changes in Antarctic archipelago and Antarctic Peninsula using terestrial laser scaning and digital terrestrial stereophotogrammetry survey; (b) investigation of Penola strain tectonic fault, using the results of precise GNSS observations.</abstract>

Institute of Geodesy National University Lviv Polytechnic, Lviv, Ukraine ,79013 Lviv, 12 Bandera street, Ukraine

Institute of Geodesy National University Lviv Polytechnic, Lviv, Ukraine, 79013 Lviv, 12 Bandera street, Ukraine

Complex Geodetic Research in Ukrainian Antarctic Station “Academician Vernadsky” (Years 2002 - 2005, 2013-2014)

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