• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2636-2640
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• 2003

KARI had developed an Local Area Augmentation System for aircraft precision landing as following ICAO SARPs(Standards and Recommended Practices) draft and FAA's recommended algorithm( carrier smoothing techniques). JPO in charge of managing GPS has introduced the signal structure of GPS modernization program. This paper estimates the accuracy performance of KARI-LAAS with modernized GPS signal but the same processing algorithm.

• Journal of Positioning, Navigation, and Timing
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• v.5 no.3
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• pp.157-163
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• 2016

Clocks for time synchronization using radio signals such as global navigation satellite system (GNSS) may lose reference signals by intentional or unintentional jamming. This is called as holdover. When holdover occurs, a clock goes into free run in which synchronization performance is degraded considerably. In order to maintain the required precise time synchronization during holdover, accurate estimation on main parameters such as frequency offset and frequency drift is needed. It is necessary to implement an optimum filter through various simulation tests by creating clock noise in accordance with given specifications in order to estimate the main parameters accurately. In this paper, a method that creates clock noise in accordance with given specifications is described.

• Journal of Advanced Navigation Technology
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• v.22 no.5
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• pp.409-414
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• 2018

Extrapolating the correction information of ionosphere is essential for expanding wide area differential GPS (WADGPS) service area beyond the reference station network. In this paper, design and analysis of the artificial neural network for expanding the ionospheric correction region will be proposed. First, analysis about influence of each input of neural network were performed. The inputs are the day/year periodic function, sunspot number, and geomagnetic index (Ap). Second, performance analysis with respect to the number of hidden layers and neurons in the neural network is shown. As a result, estimation of total electron contents (TEC) on the high/low latitude regions in solar max(2014) are displayed.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.119-127
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• 2019

COsmicheskaya Sisteyama Poiska Avariynich Sudov Search and Rescue Satellite-Aided Tracking (COSPAS-SARSAT) is an international communication support program to perform search and rescue (SAR) operations in emergency situations by using satellite signals relayed from a beacon. The legacy COSPAS-SARSAT was originally composed of low altitude and geostationary Earth orbit satellites; thus, a limited number of directional dish antennas was sufficient to cover the limited number of visible satellites at the local user terminal. However, the second generation COSPAS-SARSAT newly added the medium Earth orbit satellites, e.g., Global Navigation Satellite Systems (GNSS) to the existing system, so that the number of visible satellites increase dramatically, and the system upgrade to cover all the visible satellites is foreseen. The additional use of planned Korea Positioning System (KPS) to existing GNSS is envisaged to provide a better performance of their SAR service. This paper presents the benefits of the additional use of KPS together with the phased array antennas at the local user terminal of the COSPAS-SARSAT. This is to effectively response to the increase of the number of visible satellites. Numerical simulation is included to evaluate the performance improvement of COSPAS-SARSAT in terms of the number of visible satellites, geometry between satellites and user, and position estimation accuracy.

• Journal of Advanced Navigation Technology
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• v.24 no.1
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• pp.16-27
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• 2020

This paper investigates the applicability of optical flow information for unmanned aerial vehicle (UAV) navigation under environments where global navigation satellite system (GNSS) is unavailable. Since the optical flow information is one of important measurements to estimate horizontal velocity and position, accuracy of the optical flow information must be guaranteed. So a navigation algorithm, which can estimate and cancel biases that the optical flow information may have, is suggested to improve the estimation performance. In order to apply and verify the proposed algorithm, an integrated simulation environment is built by designing a guidance, navigation, and control (GNC) system. Numerical simulations are implemented to analyze the navigation performance using this environment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.102-106
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• 2013

A cooperative navigation method for cooperative flight of UAVs is proposed. The commonly used navigation method for UAVs is based on GNSS measurements. However, when it is not available by jamming or other causes, an alternative method is needed. In this paper, it is shown that UAVs equipped with inertial sensors, passive sensor and wireless communication link can perform accurate navigation through sharing information with each other. Firstly, the appropriate roles for sensors and wireless communication link are assigned. Secondly, a filter to perform navigation cooperative is constructed. Finally, the boundedness of estimation error of the filter under small initial estimation error is analyzed. The simulation results show that the proposed method can reduce navigation errors effectively.

• Journal of Korean Society for Quality Management
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• v.49 no.1
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• pp.1-15
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• 2021

Purpose: The purpose of this study was to propose a sensor fusion algorithm that integrates vehicle motion sensor(VMS) into the hybrid navigation system. Methods: How to evaluate the navigation performance was comparison test with the hybrid navigation system and the sensor fusion method. Results: The results of this study are as follows. It was found that the effects of the sensor fusion method and α value estimation were significant. Applying these greatly improves the navigation performance. Conclusion: For improving the reliability of navigation system, the sensor fusion method shows that the proposed method improves the navigation performance in a combat vehicle.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.5
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• pp.395-401
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• 2018

Recently, most of mobile devices are equipped with GNSS (Global Navigation Satellite System). When the GNSS signal is available, it is easy to obtain position information. However, GNSS is not suitable solution for indoor localization, since the signals are normally not reachable inside buildings. A wide varieties of technology have been developed as a solution for indoor localization such as Wi-Fi, beacons, and inertial sensor. With the increased sensor combinations in mobile devices, mobile devices also became feasible to provide a solution, which based on PDR (Pedestrian Dead Reckoning) method. In this study, we utilized the combination of three sensors equipped in mobile devices including accelerometer, digital compass, and gyroscope and applied three representative PDR methods. The proposed methods are done in three stages; step detection, step length estimation, and heading determination and the final indoor localization result was evaluated with terrestrial LiDAR (Light Detection And Ranging) data obtained in the same test site. By using terrestrial LiDAR data as reference ground truth for PDR in two differently designed experiments, the inaccuracy of PDR methods that could not be found by existing evaluation method could be revealed. The firstexperiment included extreme direction change and combined with similar pace size. Second experiment included smooth direction change and irregular step length. In using existing evaluation method which only checks traveled distance, The results of two experiments showed the mean percentage error of traveled distance estimation resulted from three different algorithms ranging from 0.028 % to 2.825% in the first experiment and 0.035% to 2.282% in second experiment, which makes it to be seen accurately estimated. However, by using the evaluation method utilizing terrestrial LiDAR data, the performance of PDR methods emerged to be inaccurate. In the firstexperiment, the RMSEs (Root Mean Square Errors) of x direction and y direction were 0.48 m and 0.41 m with combination of the best available algorithm. However, the RMSEs of x direction and y direction were 1.29 m and 3.13 m in the second experiment. The new evaluation result reveals that the PDR methods were not effective enough to find out exact pedestrian position information opposed to the result from existing evaluation method.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.3
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• pp.123-130
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• 2015

In this study, a carrier smoothed global positioning system / dead reckoning (CSGPS/DR) integrated system for high-precision trajectory estimation for the purpose of vehicle navigation was proposed. Existing code-based GPS has a low position accuracy, and carrier-phase differential global positioning system (CPDGPS) has a long waiting time for high-precision positioning and has a problem of high cost due to the establishment of infrastructure. To resolve this, the continuity of a trajectory was guaranteed by integrating CSGPS and DR. The results of the experiment indicated that the trajectory precision of the code-based GPS showed an error performance of more than 30cm, while that of the CSGPS/DR integrated system showed an error performance of less than 10cm. Based on this, it was found that the trajectory precision of the proposed CSGPS/DR integrated system is superior to that of the code-based GPS.

• Journal of Advanced Navigation Technology
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• v.8 no.1
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• pp.26-37
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• 2004

Consistent and realistic error covariance information is important for position estimation, error analysis, fault detection, and integer ambiguity resolution for differential GNSS. In designing a position domain carrier-smoothed-code filter where incremental carrier phases are used for time-propagation, formulation of consistent error covariance information is not easy due to being bounded and temporal correlation of propagation noises. To provide consistent and correct error covariance information, this paper proposes two recursive filter algorithms based on carrier-smoothed-code techniques: (a) the stepwise optimal position projection filter and (b) the stepwise unbiased position projection filter. A Monte-Carlo simulation result shows that the proposed filter algorithms actually generate consistent error covariance information and the neglection of carrier phase noise induces optimistic error covariance information. It is also shown that the stepwise unbiased position projection filter is attractive since its performance is good and its computational burden is moderate.