Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A GPS Positioning and Receiver Autonomous Integrity Monitoring Algorithm Considering SA Fade Away

고의잡음의 제거를 고려한 GPS항법 및 무결성 검정알고리즘

  • 최재열 (충북대학교 제어계측공학과 컴퓨터정보통신연구소) ;
  • 박순 (충북대학교 제어계측공학과 컴퓨터정보통신연구소) ;
  • 박찬식 (충북대학교 제어계측공학과 컴퓨터정보통신연구소)
  • Published : 2002.05.01
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Abstract

After the removal of SA (Selective Availability), horizontal accuracy of 25m(2dRMS) is easily obtained using GPS (Global Positioning System). In this paper, the error characteristics without SA are analyzed and a navigation algorithm concerns this error characteristics is proposed to further improve the accuracy. The proposed method utilizes the relationship between elevation angle and errors that are remained after ionospheric and troposheric delay compensation. The relationship is derived from real measurements and used as a weighting matrix of weighted least squares estimator. Furthermore, a RAIM (Receiver Autonomous Integrity Monitoring) technique is included to remove abnormal measurements affected by multi-path or low SNR (Signal-to-Noise Ratio). It is shown that using the proposed method, more than 4 times accurate result, which is comparable with DGPS (Differential GPS), can be obtained from experiments with real data. Besides accuracy and reliability, the proposed method reduces large jumps in position and maintains better performance than a method using mask angle to completely remove satellites below this mask angle. Thus it is expected that the proposed method can be efficiently applied to land navigation where some satellites are blocked by building or forest.

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References

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