Precise Point Positioning-Real Time Kinematic (PPP-RTK) is an improved PPP method that provides the user receiver with satellite code and phase bias correction information in addition to the satellite orbit and clock, thus enabling single-receiver ambiguity resolution. Single station PPP-RTK concept is special case of PPP-RTK in that corrections are computed, instead of a network, by only one single GNSS receiver. This study is performed to experimentally verify the positioning accuracy performance of single baseline RTK level by a user who utilizes correction for a single station PPP-RTK using dual frequencies. As an experimental result, the horizontal and vertical 95% accuracy was 2.2 cm, 4.4 cm, respectively, which verify the same performance as the single baseline RTK.

In this paper, we propose a novel global navigation satellite system (GNSS) spoofing detection technique through an array antenna-based direction of arrival (DoA) estimation of satellite and spoofer. Specifically, we consider a sophisticated GNSS spoofing attack scenario where the spoofer can accurately mimic the multiple pseudo-random number (PRN) signals since the spoofer has its own GNSS receiver and knows the location of the target receiver in advance. The target GNSS receiver precisely estimates the DoA of all PRN signals using compressed sensing-based orthogonal matching pursuit (OMP) even with a small number of samples, and it performs spoofing detection from the DoA estimation results of all PRN signals. In addition, considering the initial situation of a sophisticated spoofing attack scenario, we designed the algorithm to have high spoofing detection performance regardless of the relative spoofing signal power. Therefore, we do not consider the assumption in which the power of the spoofing signal is about 3 dB greater than that of the authentic signal. Then, we introduce design parameters to get high true detection probability and low false alarm probability in tandem by considering the condition for the presence of signal sources and the proximity of the DoA between authentic signals. Through computer simulations, we compare the DoA estimation performance between the conventional signal direction estimation method and the OMP algorithm in few samples. Finally, we show in the sophisticated spoofing attack scenario that the proposed spoofing detection technique using OMP-based estimated DoA of all PRN signals outperforms the conventional spoofing detection scheme in terms of true detection and false alarm probability.

To estimate the location of the train, we consider an integrated navigation system that combines Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS). This system provides accurate navigation results in open sky by combining only the advantages of both systems. However, since measurement update cannot be performed in GNSS signal blocked areas such as tunnels, mountain, and urban areas, pure INS is used. The error of navigation information increases in this area. In order to reduce this problem, the train's Non-Holonomic Constraints (NHC) information can be used. Therefore, we deal with the INS/GNSS/NHC integrated navigation system in this paper. However, in the process of installing the navigation system on the train, a Mounting Misalignment Error of the IMU (MMEI) inevitably occurs. In this case, if the NHC is used without correcting the error, the navigation error becomes even larger. To solve this problem, a method of easily estimating the MMEI without an external device is introduced. The navigation filter is designed using the Extended Kalman Filter (EKF) by considering the MMEI. It is assumed that there is no vertical misalignment error, so only the horizontal misalignment error is considered. The performance of the integrated navigation system according to the presence or absence of the MMEI and the estimation performance of the MMEI according to the method of using NHC information are analyzed based on simulation. As a result, it is confirmed that the MMEI is accurately estimated by using the NHC information together with the GNSS information, and the performance and reliability of the integrated navigation system are improved.

In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.

We compared two typical ensemble time scale algorithms; AT1 and Kalman filter. Four commercial atomic clocks composed of two hydrogen masers and two cesium atomic clocks provided measurement data to the algorithms. The allocation of relative weights to the clocks is important to generate a stable ensemble time. A 30 day-average-weight model, which was obtained from the average Allan variance of each clock, was applied to the AT1 algorithm. For the reduced Kalman filter (Kred) algorithm, we gave the same weights to the two hydrogen masers. We also compared the frequency stabilities of the outcome from the algorithms when the frequency offsets and/or the frequency drift offsets estimated by the algorithms were corrected or not corrected by the KRISS-made primary frequency standard, KRISS-F1. We found that the Kred algorithm is more effective to generate a stable ensemble time scale in the long-term, and the algorithm also generates much enhanced short-term stability when the frequency offset is used for the calculation of the Allan deviation instead of the phase offset.

A new positioning technique for positioning of LTE base stations is proposed. The positioning information of the base station is absolutely necessary for model-based wireless positioning, and is required in some of the various merhodologies for estimating signals in an uncorrected area when construnting a database for fingerprinting-based positioning. Using the acquired location-based Reference Signal Received Power (RSRP) information to estimate the location of the base station, it is impossible with the existing trilateration methods. Therefore, in this paper, a method using reference particles is proposed. Particles are randomly generated in the application area, and signal propagation modeling is performed assuming that a base station is located in each particle. Based on this, the errors of measurements are calculated. The particle group with the minimum measurement errors is selected, the position of the base station is estimated through weighted summation, and the signal propagation model of the corresponding base station is built at the same time. The performance of the proposed technology is verified using data acquired in Seocho-dong, Seoul.

As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.

The Korea Augmentation Satellite System (KASS) is a Korean Satellite Based Augmentation System (SBAS) that has been under development since 2014 with the goal of providing Approach Procedure with Vertical guidance (APV)-I Safety of Life (SoL) services. KASS Control Station (KCS) is a subsystem that controls and monitors KASS systems. It also serves to store data generated by KASS. KCS has now completed detailed design and implementation and verification is in progress. This paper presents verification procedures and verification items for KCS verification activities and presents management measures for defects occurring during the verification phase.

In this paper, a study was conducted on the power amplifier control required to design an eLoran transmitter system using a low-height antenna. The eLoran transmitter developed during the eLoran technology development project conducted in Korea used a small 35 m antenna due to the difficulty of securing a site for antenna installation. This antenna height is very low compared to the height of 750 m which is required for eLoran 100 kHz signal transmission without any radiation loss. In the case of using such a small antenna, not only the radiation efficiency of the transmission is lowered, but also the power module control must be performed more precisely in order to transmit the eLoran standard signal. The equivalent RLC circuit of the transmitter system was implemented and transient analysis was conducted to derive the input required voltage for satisfying the output requirement. The voltage waveform was also generated by the RLC circuit analysis to generate the eLoran signal. Furthermore, we suggest power width modulation method to control eLoran power amplifier module more sophisticatedly.