• Journal of Positioning, Navigation, and Timing
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• 제10권1호
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• pp.43-48
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• 2021

Most existing studies on the wide-area differential global positioning system (WADGPS) used standard positioning service (SPS) receivers in their observation reference stations which provide the central control station global positioning system (GPS) measurements to generate augmentation data. In the present study, it is considered to apply a precise positioning service (PPS) receiver to an observation reference station which is located in the threatened jamming area. Therefore, the reference station network consists of a PPS receiver based observation reference station and SPS receiver based observation reference stations. In this case, to maintain correction performance P1C1 differential code bias (DCB) should be compensated. In this paper, P1C1 DCB estimation algorithm was applied to the PPS/WADGPS system and performance test results using measurements in the Korean Peninsula were presented.

• Journal of Positioning, Navigation, and Timing
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• 제7권1호
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• pp.15-24
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• 2018

This study analyzed positioning accuracy of the multi-differential global navigation satellite system (DGNSS) algorithm that integrated GPS, GLONASS, and BDS. Prior to the analysis, four sites of which satellite observation environment was different were selected, and satellite observation environments for each site were analyzed. The analysis results of the algorithm performance at each of the survey points showed that high positioning performance was obtained by using DGPS only without integration of satellite navigation systems in the open sky environment but the positioning performance of multi-DGNSS became higher as the satellite observation environments degraded. The comparison results of improved positioning performance of the multi-DGNSS at the poor reception environment compared to differential global positioning system (DGPS) positioning results showed that horizontal accuracy was improved by 78% and vertical accuracy was improved by 65% approximately.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권1호
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• pp.69-85
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• 2019

BeiDou navigation satellite system (BDS) is one of the four main types of global navigation satellite systems. The current system has been widely used by the military and by the aerospace, transportation, and marine fields, among others. However, challenges still remain in the BeiDou system, which requires rapid responses for delay-sensitive devices. A differential positioning algorithm called the data center-based differential positioning (DCDP) method is widely used to avoid the influence of errors. In this method, the positioning information of multiple base stations is uploaded to the data center, and the positioning errors are calculated uniformly by the data center based on the minimum variance or a weighted average algorithm. However, the DCDP method has high delay and overload risk. To solve these problems, this paper introduces edge computing to relieve pressure on the data center. Instead of transmitting the positioning information to the data center, a novel method called edge computing-based differential positioning (ECDP) chooses the nearest reference station to perform edge computing and transmits the difference value to the mobile receiver directly. Simulation results and experiments demonstrate that the performance of the ECDP outperforms that of the DCDP method. The delay of the ECDP method is about 500ms less than that of the DCDP method. Moreover, in the range of allowable burst error, the median of the positioning accuracy of the ECDP method is 0.7923m while that of the DCDP method is 0.8028m.

• 전자공학회논문지S
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• 제34S권1호
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• pp.16-25
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• 1997

This paper shows the development of the high accuracy vehicle positioning algorithm using the differential technique in vehicle tracking systems form the existing vehicle position which is acquired from the global positioning system (GPS). The control center receives the satellite ephemerise data and pseudorange correction from the reference station, and vehicle position from the moving vehicle. The pseudorange is calculated with the satellite position and the vehicle position, and corrected by pseudorange correction. Using this corrected pseudorange and kalman filter, more improved vehicle positioning data were obtained.

• Journal of Positioning, Navigation, and Timing
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• 제12권3호
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• pp.307-314
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• 2023

Wide-Area Differential Global Positioning System (WADGPS) is a system that operates a number of reference stations to provide correction information to improve the accuracy of GPS users, and it is available to service users within the area where the wide-area reference stations are installed. Recently, as positioning information has been used in various applications, the need for WADGPS for precise navigation in long-distance spaced areas where the wide-area reference stations cannot be installed has been raised. This paper tested the user navigation performance outside the wide-area reference stations of the WADGPS system, which serves both GPS Precise Positioning Service (PPS) and Standard Positioning Service (SPS) users. Static and dynamic tests were conducted using vehicles, and as a result, position accuracy improvement through WADGPS was confirmed even at points hundreds of kilometers outside the network area of the wide-area reference stations. Through this, the performance of the PPS/SPS correction system and the possibility of expanding the service area were confirmed.

• 한국측량학회지
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• 제19권3호
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• pp.301-308
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• 2001

최근에 GPS가 차량항법시스템으로 큰 역할을 해왔지만, 가로수와 고층빌딩 등이 산재한 도심지에서는 가시위성의 수의 제한으로 연속적으로 정확하게 차량의 동적위치를 결정할 수 없는 실정이다. 이런 GPS의 단점을 보완하기 위해 1996년 완전히 가동된 러시아의 위성항법시스템인 GLONASS를 도입하여 GPS의 보조항법시스템으로 사용하고자 하는 연구가 활발하다. 그래서 본 연구에서는 Real-time code differential positioning 기법으로 차량의 동적위치를 결정하여, Real-time DGG(DGPS/DGLONASS)가 차분측위해의 획득율과 수평위치 정밀도저하율(HDOP ; Horizontal Dilution of Precision)에서 Real-time DGPS보다 훨씬 우수한 값을 얻었으며, 이를 통해 GPS와 GLONASS의 결합이 정확한 차량의 동적위치결정에 기여하고 있음을 알 수 있었다.

• Journal of Positioning, Navigation, and Timing
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• 제10권1호
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• pp.35-42
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• 2021

The position accuracy of the stand-alone Regional Navigation Satellite System (RNSS) users is more than tens of meters because of various error sources in satellite navigation signals. This paper focuses on wide-area differential (WAD) positioning technique, which is already applied in Global Navigation Satellite System (GNSS), in order to improve the position accuracy of RNSS users. According to the simulation results in the very narrow ground network in regional area, the horizontal position error of stand-alone RNSS is about RMS 11.6 m, and that of RNSS with WAD technique, named the WAD-RNSS, is about RMS 2.5 m. The accuracy performance has improved by about 78%.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• 한국산학기술학회논문지
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• 제21권1호
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• pp.14-19
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• 2020

본 논문은 차등 위성항법 보정 시스템을 이용한 측위 오차 보정을 통해 소형 드론의 위치를 정밀하게 계측할 수 있는 시스템 구현에 대해 서술하고 있다. 본 시스템은 고정된 위치에 자리하는 기준국과 실시간으로 움직이는 이동국(드론)으로 이루어져 있다. 자체 기준국 위치 정보와 국가에서 제공하는 관측 정보를 함께 후처리하여 기준국의 정밀 좌표를 획득하는 과정에 대해 서술하고, 이동국을 정밀 추적하기 위한 차등 위성 항법 시스템의 하드웨어 및 소프트웨어 구성에 대해 설명한다. 기준국 및 이동국 구현에 있어 저가의 경량 위성 항법 수신기 및 오픈소스 소프트웨어 코드와 라이브러리를 활용하여 범용성과 경제성을 극대화 하였으며, 오차 보정 정보 송수신에는 비 면허 주파수 대역 무선통신인 지그비(Zigbee)를 사용하였다. 본 시스템을 이용하여 소형 드론 위치 추적 시험 결과, 평균 측위 오차가 0.8m 및 최대 측위 오차가 1.2m로, 단일 위성 항법 수신기를 사용했을 경우 대비 오차가 86% 개선됨을 확인할 수 있었다.