• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.4
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• pp.461-467
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• 2009

Relative positioning technique by GPS that can obtain the high positioning accuracy has been used for generation of high precision positioning with elimination or the reduction of the common errors. This paper gives some algorithms for RTK and considers the filter to estimate the positioning information and integer ambiguities at each epoch in the whole algorithms. The extended kalman filter has been employed to estimate the state parameters and the modified LAMBDA to resolve the integer ambiguities. The data processing was performed by GPS single frequency and dual frequency in short baseline. The verification procedure of these positioning compared with results from Bernese 5.0 software. We presented some statistic values on positioning errors and the rates of integer ambiguity resolution.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.397-402
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• 2019

Recently, with the emergence of autonomous vehicles and the increasing interest in safety, a variety of research has been being actively conducted to precisely estimate the position of a vehicle by fusing sensors. Previously, researches were conducted to determine the location of moving objects using GNSS (Global Navigation Satellite Systems) and/or IMU (Inertial Measurement Unit). However, precise positioning of a moving vehicle has lately been performed by fusing data obtained from various sensors, such as LiDAR (Light Detection and Ranging), on-board vehicle sensors, and cameras. This study is designed to enhance kinematic vehicle positioning performance by using feature-based recognition. Therefore, an analysis of the required precision of the observations obtained from the images has carried out in this study. Velocity and attitude observations, which are assumed to be obtained from images, were generated by simulation. Various magnitudes of errors were added to the generated velocities and attitudes. By applying these observations to the positioning algorithm, the effects of the additional velocity and attitude information on positioning accuracy in GNSS signal blockages were analyzed based on Kalman filter. The results have shown that yaw information with a precision smaller than 0.5 degrees should be used to improve existing positioning algorithms by more than 10%.

• Journal of Korea Multimedia Society
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• v.22 no.9
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• pp.1011-1019
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• 2019

In this paper, we propose a system that can more precisely identify and monitor the position of the tool used in the assembling workplace such as automobile production. The proposed positioning monitoring system is a combination of UWB communication module and MEMS IMU sensor. Since UWB does not need modulation and demodulation function and has low power density, UWB is widely used in indoor positioning field. However, it may cause positioning error due to errors in RF transmission and reception process, which may cause positioning accuracy. Therefore, in this paper, we propose an algorithm that uses IMU as an auxiliary means to compensate for errors that may occur in positioning using only UWB. The tag and anchor of UWB module measure the transmission / reception time by transmitting signals to each other and then estimate the distance between tag and anchor. The MEMS IMU sensor serves to provide positioning calibration information. The tag, which is a mobile node and attached to a moving tool, measures the three-dimensional position of the tool and transfers the coordinate data to the anchor. Thus, it is possible to confirm whether or not the specific tool is properly used according to the prescribed regulations.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.2
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• pp.75-82
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• 2021

Fields of high-precision positioning applications are growing fast across the mass market worldwide. Accordingly, the industry is focusing on developing methods of applying State-Space Representation (SSR) corrections on low-cost GNSS receivers. Among SSR correction types, this paper analyzes Safe Position Augmentation for Real Time Navigation (SPARTN) messages being offered by the SAfe and Precise CORrection DAta (SAPCORDA) company and validates positioning algorithms based on them. The first part of this paper introduces the SPARTN format in detail. Then, procedures on how to apply Basic-Precision Atmosphere Correction (BPAC) and High-Precision Atmosphere Correction (HPAC) messages are described. BPAC and HPAC messages are used for correcting satellite clock errors, satellite orbit errors, satellite signal biases and also ionospheric and tropospheric delays. Accuracies of positioning algorithms utilizing SPARTN messages were validated with two types of positioning strategies: Code-PPP using GPS pseudorange measurements and PPP-RTK including carrier phase measurements. In these performance checkups, only single-frequency measurements have been used and integer ambiguities were estimated as float numbers instead of fixed integers. The result shows that, with BPAC and HPAC corrections, the horizontal accuracy is 46% and 63% higher, respectively, compared to that obtained without application of SPARTN corrections. Also, the average horizontal and vertical RMSE values with HPAC are 17 cm and 27 cm, respectively.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.343-349
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• 2011

Now, for the continuous location detection of train, the method that the moving distance of a vehicle is detected using an wheel sensor(odometer) mounted within a train, is generally used. It has a problem that the positioning errors of a train can be accumulated as the moving distance increases. To solve this problem, it is required to apply a variety of positioning sensors and to integrate with sensor data. In this paper, we develop the train-borne positioning system applicable to the conventional railway and high-speed railway, and verify the performance of the train-borne positioning system through a vehicle test.

• Journal of Industrial Technology
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• v.28 no.A
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• pp.97-104
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• 2008

Recently, interests on positioning system for location-based services have been significantly increased. Many indoor environment systems using fingerprint scheme have been designed to take more accuracy of positioning, but they are inefficient in adapting to change of environments. In this paper, we focus on a client-based positioning system over WLAN for decreasing installation cost and adapting to change of environments. In the proposed system, APs with stable RSSI are selected as base APs independently for each reference point. Experimental results show that proposed system expands service area approximately 20% much than traditional systems using K-NN algorithm and needs only 20% modification process to fingerprint data compare with traditional systems whenever environment conditions are changed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.378-391
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• 2002

A 250mm stroke aerostatic stage, which detects position with laser scale and is driven by linear motor, is made and analyzed positioning error in 20$\pm$ 0.5 $^{\circ}C$ controlled atmosphere, aiming at investigating positioning characteristic of ultra-precision stage. We prove this aerostatic stage has a 10nm micro step resolution by experiment. By means of analyzing laser interferometer system, the scale of measuring error is about 0.2-0.4$\mu\textrm{m}$ according to refractive index error from missing the temperature change. To improve laser interferometer system, compensate refractive index error using measuring data from thermocouple. And, confirm 0.10$\mu\textrm{m}$ repeatability and 0.13 $\mu\textrm{m}$ positioning accuracy using the compensating refractive index. Also, we confirm 0.07 ${\mu}{\textrm}{m}$ repeatability of the stage using capacitive displacement sensor.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.2054-2061
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• 2010

This paper suggests an algorithm for optimal positioning individuals(or observations) with p-dimensional measurements into coordinates of a two dimensional space. A criterion for optimizing the rotation is taken as the consistency of the grouping result obtained by the cluster analysis. This paper introduces the criterion and a transformation matrix for the orthogonal rotation. The criterion of the optimal positioning is that standard groups are placed in each quadrant of the positioning. An optimal angle of the orthogonal rotation is investigated and found by this criterions.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• Journal of Positioning, Navigation, and Timing
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• v.7 no.4
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• pp.205-215
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• 2018

The recent emergence of new Global Navigation Satellite Systems (GNSS) has resulted in a gradual improvement in the performance of positioning services. This paper verifies the degree of improvement in positioning performance of Assisted-GNSS (A-GNSS) receivers using assistance information compared to standalone-GNSS receivers that do not use assistance information in various urban environments in Korea. For this purpose, field tests are performed in various urban and indoor environments in Korea. The assistance information is provided by u-blox's AssistNow Online and low-cost commercial receivers are used for mobile station receivers. Through experiments, the Time to First Fix (TTFF), acquisition sensitivity, and position accuracy performance improvement are analyzed. The results of the experiments show that using assistance data improved the performance in all experiment locations, and, in particular, a significant performance improvement in terms of TTFF.