• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1618-1622
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• 2004

In this paper, the linearly interpolated PRC(Pseudo Range Correction) regenerating algorithm was applied to improve the DGPS(Differential Global Positioning System) positioning accuracy at user's spot by using the various PRC information obtained from multi-DGPS reference stations. The PRC information of each GPS satellite is not varying rapidly; it is possible to assume that the variation of PRC information of each GPS satellite is linear. So the linearly interpolated PRC regenerating algorithm can be applied to improve the DGPS positioning accuracy at user's spot by using the various PRC information obtained from multi-DGPS reference stations. To test the performance of the linearly interpolated PRC regenerating algorithm, maritime DGPS reference stations' PRC data was used in RTCM format. 11 maritime DGPS reference stations are in service providing DGPS information to public since 1999. Two set of 3 DGPS reference stations are selected to compare the performance of the linearly interpolated PRC regenerating algorithm. The DGPS positioning accuracy was dramatically improved about 40%. Linearly interpolated PRC regenerating algorithm adopted multi-channel DGPS receiver will be developed in near future.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.6 no.1
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• pp.51-56
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• 2003

The urban stream include the channel and its adjacent banks, or hillslopes and it consists of various landscape elements. The riparian ecosystem is important to people. Its water is extracted for irrigation and drinking supplies. Biodiversity and many wetland species are protected here. The riparian ecosystem is diverse and needs to be preserved well. So, it is necessary to measure the features of the urban stream accurately to figure out the change of the riparian ecosystem. However, the traditional Electronic Distance Measurement(EDM) surveying is difficult to measure the curvilinear features of the stream - e, g, angle, curve. The beacon Differential Global Positioning System(DGPS) can handle to measure the curvilinear shape. Therefore, the purpose of this study is to measure the change of the river bed in urban stream accurately using realtime beacon DGPS, and ultimately to provide the basic data for identifying the change of the river ecosystem.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.1084-1087
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• 1997

In this paper, we developed the micro NCT system for punching the thin plates, which is driven is driven by the standalone type microprocessor. In order to adjust the alignment between the punch and die in-situ punching procedures, the non-contact type laser sensor for measuring the burr and micro-driving system for punching die with using the differential screw are developed. The height of burr in four directions in the punched hole of test specimen are measured, and the measured data are transferred to the personal computer by RS232C serial communication technology. In the personal computer, by using the graphic user interface type monitoring program and data handling procedures which includes the filtering algorithms, the direction and length of movement of the die position is decided and these data are transferred back to the microprocessor. The microprocessor drives the micro positioning stage based on these data. Even if this method is not a perfect solution for the in-situ alignment in micro punching, but this alignment methodology is accomplished in the same stage just after the punching that we hope to solve the alignment problem in the punching system based on this technology.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.12 no.2
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• pp.155-161
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• 1994

Accurate positioning method using low cost GPS modules is proposed, which use the technique of differential GPS. DGPS experiments have been made using two coarse-acquisition (C/A) code GPS modules. Position accuracy of better than 5 m was obtained for position dilution of precision (PDOP) of 2-3 and that of better than 10 m after filtering was obtained for PDOP of about 9 in a local area. Static DGPS experiments were performed at Kookmin university with the DGPS correction data of KRISS reference station at Taejon. The distance between two stations is about 140 km. The results show that precision of the position is about 10 m (2 drms), which is ten times better than the results with the GPS module alone. Accuracy of about 10 meters can be obtained in near real time by the DGPS service with a reference station in our country.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.565-567
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• 2018

The rover acquires its own position information using satellites signals provided by several satellites(at least four or more). For the present, GNSS systems are widely used in various fields. However, there are many factors that cause accuracy errors in positioning between rovers and GNSS satellites. Due to satellite time error, orbit error, ionospheric & convective refraction, multipath, etc., rover can't acquire precise position. Differential GPS(DGPS) and Real-Time Kinematic(RTK) have been developed as compensation techniques to reduce such errors. In this paper, we intend to develop a terminal with RTK technique to acquire precise position information of mobile station.

• Journal of Satellite, Information and Communications
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• v.1 no.1
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• pp.48-53
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• 2006

A K-SBAS (Korean Satellite Based Augmentation System) is proposed as one of the space infrastructure. The proposed system considers the existed elements to the utmost for the most economical SBAS construction. As reference system the current DGPS (differential global positioning system) network is investigated. Space segment is investigated based on the COMS-1 (Communications, Oceanographic, and Meteorological Satellite-1). While bus system of COMS-1 can be kept to minimum change, the communication payload of needed, crucial parts such as software, man power can be easily secured through the DGPS network operation heritage.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.4
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• pp.357-366
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• 2020

This paper addressed a relative navigation method for autonomous rendezvous and docking of cube-satellites using single frequency Differential GPS (DGPS) under the intermittent communication between satellites. Since the ionospheric error of GPS measurement is variable depending on the visible satellites, a few meters error of relative navigation is occurred in the Low-Earth Orbit (LEO) environment. Therefore, it is essential to remove the ionospheric error to perform relative navigation. Besides, an intermittent communication period for receiving GPS measurements of the target satellite is limited for getting information every sampling time. To solve this problem, a method combining range domain DGPS and orbit propagation is proposed in this paper. The proposed method improves the performance of DGPS by using Hatch filter and solves an intermittent communication problem by estimating the relative position and velocity using Hill-Clohessy-Wiltshire Equation. Through the simulation, it is verified that the suggested algorithm provides the relative position error within RMS 0.5 m and the relative velocity error within RMS 3 cm/s. Furthermore, it has the advantage that it is suitable for real-time implementation using single-frequency GPS measurements and is computationally efficient.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.2
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• pp.101-108
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• 2005

Inertial Navigation System has been used extensively to determine the position, velocity and attitude of the body. An INS is very expensive, however, heavy, power intensive, requires long setting times and the accuracy of the system is degraded as time passed due to the accumulated error. Global Positioning System(GPS) receivers can compensate for the Inertial Navigation System with the ability to provide both absolute position and attitude. This study describes a method to improve both the accuracy of a body positioning and the precision of an attitude determination using GPS antenna array. Existing attitude determination methods using low-cost GPS receivers focused on the relative vectors between the master and the slave antennas. Then the positioning of the master antenna is determined in meter-level because the single point positioning with pseudorange measurements is used. To obtain a better positioning accuracy of the body in this research, a wireless internet is used as an alternative data link for the real-time differential corrections and dual-frequency GPS receivers which is expected to be inexpensive was used. The numerical results show that this system has the centimeter level accuracy in positioning and the degree level accuracy in attitude.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.98-99
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• 2007

It is necessary to use satellite radio navigation system as well as satellite radio navigation augmentation system such as differential Global Positioning System to achieve the positioning accuracy and reliability requested by International Maritime Organization in port and coastal area. Especially, position accuracy of DGPS user is effected by accuracy of pseudorange correction broadcasted from DGPS reference station. This paper shows pseudorange correction calculation algorithm adopting a non-common error estimation filter in order to improve accuracy of pseudorange correction. Finally, this paper verifies that the pseudorange correction calculated by adopting a non-common error estimation filter satisfies performance specifications of RTCM.