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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precision Positioning of a Stationary Transporter Using a Fault Detection and Isolation Method

정적 상태의 이동체 위치 정밀도 향상을 위한 오류 검출 및 배제 기법

  • An, Jong-Woo (Department of Electric and Electronic and Computer Engineering, Pusan National University) ;
  • Kim, Yun-Ki (Department of Electric and Electronic and Computer Engineering, Pusan National University) ;
  • Lee, Jae-Kyung (Department of the Control & Instrumentation Engineering, Korea National University of Transportation) ;
  • Lee, Jangmyung (Department of Electric and Electronic and Computer Engineering, Pusan National University)
  • 안종우 (부산대학교 전자공학과) ;
  • 김윤기 (부산대학교 전자공학과) ;
  • 이재경 (한국교통대학교 제어계측공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Received : 2016.05.13
  • Accepted : 2016.09.19
  • Published : 2016.10.01
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Abstract

This paper proposes a new global positioning system (GPS) receiver algorithm to improve the positioning accuracy of a transporter using fault detection and isolation techniques from satellite signals. To improve the positioning accuracy, several factors including a feasible number of satellite signals, SNR, NAV Measurement Quality Indicator (mesQI), and Doppler, among others, have been utilized in the proposed algorithm. To increase the number of feasible satellite signals, an erroneous satellite signal has been replaced by the previous one. In conventional approaches, received GPS signals are analyzed and directly determined to be contaminated or not. The only clean signals are utilized for identifying the current location. This fault detection and isolation (FDI) feasibility test is popular for commercial GPS receivers. In the urban environment, especially near a building, the feasible number of satellite signals becomes insufficient to position the transporter. To overcome this problem, satellite signals are efficiently selected and recovered. Additionally, using the proposed GPS receiver algorithm, a feasible number of satellite signals can be increased, thereby improving the positional accuracy. Real world experiments using a transporter that carries blocks in a shipyard have demonstrated the superiority of the proposed algorithm compared to conventional approaches.

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References

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