    .  I.         
  


            ,    - , -   ..  ,        :   ,          ..           .   ,           ,     ;     .        ,        ,      ,  ,  .





  

    

 I

        








   (.1)    FLIR Systems    . ,  ,       .           ,  ,  ,  ( .2    ,         ),    .




.1






.2



           Universal Location Framework,          Intel.   ,                    .            .   Intel ,       ,         (Location-Aware Computing, LAC).

       ,        Enhanced 911 (-911)        ,          (Location-Based Services, LBS)  .  ,            1530           .

               .           :      (GPS)   ( )       Enhanced Observed Time of Difference (E-OTD)   , ,      (DTV),   (UWB)    (Wi-Fi)   .         :       .         , ,      .

      .        ?   ,    ,       .          ,  ,     ,     .  ,       ,    ,     , ,   .   ,          ,       ,     GPS.  ,    ,        ,   .

      :

GPS ( ).     .  15, 95%.      .

E-OTD ( ).     .  150300, 95%.          .

   ( ).     .  100.         .

RFID ( ).     .   .

         ,       ,           .         .           ,      ,   ,      ,     ,    .       Universal Location Framework.

               .   ,      .

   .

     .

    .

    .

    .

  ,        ,    ,       (   )   ,    .

      ,        ,                   .  ,        ,    ,        .  ,   ,   .  ,        GPS-.           GPS-.        ,          ,       .  ,   ,        .                .

         ,    ,  -,   ,     ,   .. :         -  32-   -  ,   .          ,          .




 1

       





1.,    () 


(  Joseph L. Jones Robot Programming .1.1)




 1.1



,         ,  ,   ,       . -    ,          .     ,    ,        .    :        ,         .

         .   ,       ,  ,            ,     . ,    ,    GPS.

  GPS    (GPS        ). GPS          ,     .    ,        ?

  ,   GPS            XY (.1.2).   ,       (Xg, Yg),    ,  GPS   (Xr, Yr).   ,        (?, ?Y),    .  , ? = Xg  Xr,  ?Y = Yg  Yr.




.1.2.    ,  ,   .        ()    .   (    )     



   ,    ,    ,   X,   .     ,          ?   X.    ,  ,     ,       X  Y,  :? = tan


 (?Y/?X).

          ;       .         :        ,        ,    ,   .

GPS    ,       .      .    ,     ,  ,  ,     .       GPS     ,       :   ,       ,      .




  .


   .

   ,     (https://www.litres.ru/aleksandr-barsukov/kto-est-kto-v-robototehnike-vypusk-i-komponenty-i-resheniya-dlya-sozdaniya-robotov-i-robototehnicheskih-sistem/)  .

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