Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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A Study on the Cycle-slip Detection for GPS Carrier-phase based Positioning of Land Vehicle

차량 환경에서 GPS 반송파 기반 위치 결정을 위한 반송파 불연속 측정치 검출에 대한 연구

  • Kim, Youn-Sil (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Song, Jun-Ssol (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Yun, Ho (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Kee, Chang-Don (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
  • 김연실 (서울대학교기계항공공학부) ;
  • 송준솔 (서울대학교기계항공공학부) ;
  • 윤호 (서울대학교기계항공공학부) ;
  • 기창돈 (서울대학교기계항공공학부)
  • Received : 2013.10.07
  • Accepted : 2013.12.30
  • Published : 2013.12.30
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Abstract

In this paper, the GPS cycle-slip detection for carrier-phase based positioning of land vehicle is presented. For the carrier phase based positioning, cycle-slip detection is necessary to get the reliability of positioning result. There exists many cycle-slip detection algorithms, but we detect the cycle-slip by using the monitoring value which is defined as residual between the carrier phase measurement and estimated value from low-cost inertial sensor. To achieve goal of paper, low-cost cycle-slip detection system, permissible specification region of inertial sensor is derived. By using the result of permissible region, appropriate inertial sensor of cycle-slip detection can be decided, proper cost and proper specification. To verify the result of this paper, we conduct the rate table test. As a result, required cycle-slip detection performance is satisfied conservatively.

본 논문은 차량 환경에서 GPS 반송파 기반 위치 결정을 위한 반송파 불연속 측정치 검출에 대한 내용을 다룬다. 반송파 기반 위치 결정 방식에 있어서 위치 정확도의 신뢰도를 확보하기 위해서는 반송파 불연속 측정치를 검출해야 한다. 반송파 불연속 측정치를 검출하는 방식에는 여러 연구가 있지만 본 연구에서는 차분된 반송파 측정치와 저가의 관성센서를 이용해 추정한 차분된 반송파의 차이를 모니터링 값으로 설정함으로써 GPS 불연속 측정치를 검출한다. 저가의 불연속 측정치 검출 알고리즘을 개발하는 것을 목표로 설계된 불연속 측정치 검출 성능 만족을 위한 관성센서 성능 범위를 도출한다. 이를 통해 적절한 가격과 성능의 관성센서 선택이 가능하다. 선정된 관성센서가 설계치를 만족하는지를 검증하기 위하여 회전 테이블 실험을 진행하였다. 결과적으로 실험치가 설계된 불연속 측정치 검출 성능을 보수적으로 만족하는 검출 성능을 보였다.

Keywords

References

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