20.500.12556/RUL-133419 Application of kinematic GPR-TPS model with high 3D georeference accuracy for underground utility infrastructure mapping a case study from urban sites in Celje, Slovenia This paper describes in detail the applicability of the developed ground-penetrating radar (GPR) model with a kinematic GPR and self-tracking (robotic) terrestrial positioning system (TPS) surveying setup (GPR-TPS model) for the acquisition, processing and visualisation of underground utility infrastructure (UUI) in a real urban environment. The integration of GPR with TPS can significantly improve the accuracy of UUI positioning in a real urban environment by means of efficient control of GPR trajectories. Two areas in the urban part of Celje in Slovenia were chosen. The accuracy of the kinematic GPR-TPS model was analysed by comparing the three-dimensional (3D) position of UUI given as reference values (true 3D position) from the officially consolidated cadastre of utility infrastructure in the Republic of Slovenia and those obtained by the GPR-TPS method. To determine the reference 3D position of the GPR antenna and UUI, the same positional and height geodetic network was used. Small unmanned aerial vehicles (UAV) were used for recording to provide a better spatial display of the results of UUI obtained with the GPR-TPS method. As demonstrated by the results, the kinematic GPR-TPS model for data acquisition can achieve an accuracy of fewer than 15 centimetres in a real urban environment. kinematic GPR-TPS model self-tracking terrestrial positioning system unmanned aerial vehicle underground utility infrastructure horizontal accuracy vertical accuracy testing pools real urban environment kinematični GPR-TPS model sistem za samodejno sledenje položaja podzemna gospodarska infrastruktura brezpilotni letalnik horizontalna natančnost vertikalna natančnost realno urbano okolje true false true Angleški jezik Slovenski jezik Članek v reviji 2021-11-26 11:27:51 2021-11-26 11:27:53 2022-09-12 04:16:16 0000-00-00 00:00:00 2020 0 0 26 str. iss. 8, art. 1228 Vol. 12 2020 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 550.3 2072-4292 10.3390/rs12081228 71846498 RAZ_Sarlah_Nikolaj_2020.pdf RAZ_Sarlah_Nikolaj_2020.pdf 1 53D21E0D8419FDA530B92AB953535A1B f362836ff8378ffbc20988d85eb5a8181079ad23c87f164218bf9eec450e41ab afa547e1-4ea3-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=151470 https://www.mdpi.com/2072-4292/12/8/1228 0 a1d9207b-4ea3-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=151469 Fakulteta za gradbeništvo in geodezijo Filozofska fakulteta 0 0 0