Disclosed herein is a computerized method for land surveying. The method includes a calibration stage and a land surveying stage. The calibration stage includes: placing a total station (TS) at an origin; selecting at least three reference positions, each having good satellite reception and being at a line-of-sight from the TS; using an antenna(s) to obtain satellite coordinates of the reference positions; using the TS to obtain coordinates, relative thereto, of the reference positions; determining absolute coordinates of the origin, based on the obtained satellite coordinates and the coordinates relative to the TS. If the absolute coordinates of the origin are not determined to a required precision, repeating the calibration stage taking into account an additional reference position(s). Else, continuing to the land surveying stage, wherein the TS is used to measure coordinates, relative to the TS of locations in a surveyed area, thereby obtaining absolute coordinates of the locations.

A verification method comprising a first step of measuring at least one position parameter of an aircraft and a first set of steps implemented after the flight of at least one aircraft, in an automatic and repetitive manner, comprising computing a geographical height of an aircraft with respect to the runway on the basis of the position parameters of an aircraft, computing an evaluated vertical deviation, between the geographical height and a reference height, and computing a vertical error on the basis of a comparison between the evaluated vertical deviation and the reference vertical deviation.

A verification method comprising a first step of measuring at least one position parameter of an aircraft and a first set of steps implemented after the flight of at least one aircraft, in an automatic and repetitive manner, comprising computing a geographical height of an aircraft with respect to the runway on the basis of the position parameters of an aircraft, computing an evaluated vertical deviation, between the geographical height and a reference height, and computing a vertical error on the basis of a comparison between the evaluated vertical deviation and the reference vertical deviation.

A navigation device includes a pressure sensor, a radio, a memory including program instructions, and a controller operably connected to the pressure sensor, the radio, and the memory and configured to execute the program instructions to (i) receive at least one signal from a reference beacon of a plurality of beacons, (ii) determine a reference relationship curve correction based upon the received at least one signal, and (iii) determine an altitude of the navigation device based upon the reference relationship curve correction, and a signal from the pressure sensor.

A navigation device includes a pressure sensor, a radio, a memory including program instructions, and a controller operably connected to the pressure sensor, the radio, and the memory and configured to execute the program instructions to (i) receive at least one signal from a reference beacon of a plurality of beacons, (ii) determine a reference relationship curve correction based upon the received at least one signal, and (iii) determine an altitude of the navigation device based upon the reference relationship curve correction, and a signal from the pressure sensor.

A posture estimation device includes an acquisition part acquires information of angular velocities and accelerations from a plurality of sensors that detects angular velocities and accelerations and that are attached to a plurality of locations on an estimation object, a conversion part that converts information acquired by the acquisition part into information of a standard coordinate system from a sensor coordinate system, an integrating part that calculates an orientation of a reference area of the estimation object as a part of a posture of the estimation object by integrating the converted angular velocities, and a correction part, assuming a representative plane passing through a reference area included in the estimation object, corrects the converted angular velocities of the reference area so that a normal line of the representative plane and an orientation of the reference area calculated by the integrating part approaches to directions that are perpendicular to each other.

A posture estimation device includes an acquisition part acquires information of angular velocities and accelerations from a plurality of sensors that detects angular velocities and accelerations and that are attached to a plurality of locations on an estimation object, a conversion part that converts information acquired by the acquisition part into information of a standard coordinate system from a sensor coordinate system, an integrating part that calculates an orientation of a reference area of the estimation object as a part of a posture of the estimation object by integrating the converted angular velocities, and a correction part, assuming a representative plane passing through a reference area included in the estimation object, corrects the converted angular velocities of the reference area so that a normal line of the representative plane and an orientation of the reference area calculated by the integrating part approaches to directions that are perpendicular to each other.

A mobile robotic device has a motion sensor assembly configured to provide data for deriving a navigation solution for the mobile robotic device. The mobile robotic device temperature is determined for at least two different epochs so that an accumulated heading error of the navigation solution can be estimated based on the determined temperature at the at least two different epochs. A calibration procedure is then performed for at least one sensor of the motion sensor assembly when the estimated accumulated heading error is outside a desired range.

A mobile robotic device has a motion sensor assembly configured to provide data for deriving a navigation solution for the mobile robotic device. The mobile robotic device temperature is determined for at least two different epochs so that an accumulated heading error of the navigation solution can be estimated based on the determined temperature at the at least two different epochs. A calibration procedure is then performed for at least one sensor of the motion sensor assembly when the estimated accumulated heading error is outside a desired range.

A method of updating an all-attitude angle of an agricultural machine based on a nine-axis MEMS sensor includes the following steps: establishing an error model of a gyroscope, an electronic compass calibration ellipse model and a seven-dimensional EKF filtering model, and setting a parameter vector corresponding to a vehicle motional attitude (S1); acquiring data including an acceleration and an angular velocity of a motion of vehicle, and an geomagnetic field intensity in real time (S2); calculating an angle, a velocity, position information, and a course angle of the vehicle by established error model of the gyroscope and the electronic compass calibration ellipse model(S3); data-fusion processing the angle, the velocity, the position information and the course angle of the vehicle by the seven-dimensional EKF filtering model, and updating a motional attitude angle of the vehicle in real time. The steps of the method have a small error, high precision, and reliability.