• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.2
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• pp.135-142
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• 2013

Recently, it is a pretty well known way to compute GPS/INS using Continuously Operating Reference Station (CORS) and Network-based RTK for obtaining Exterior Orientation (EO) parameters of aerial photogrammetry. In this study, it is way to compute Exterior Orientation (EO) parameters using ground base stations, using Continuously Operating Reference Station (CORS) broadcast orbits and International GNSS Service (IGS) rapid orbits. And the residuals of Exterior Orientation (EO) parameters were computed based on the results of ground base station. As a result, the case of using SmartBase to obtain Exterior Orientation (EO) parameters was showed the high accuracy of X, Y, K more than using Continuously Operating Reference Station (CORS) of National Geographic Information Institute (NGII). Also, distance and direction of Continuously Operating Reference Station (CORS) of National Geographic Information Institute (NGII) from ground base station affected Exterior Orientation (EO) parameters. And different forms of residuals were shown according to the aerial photo courses.

• Journal of Astronomy and Space Sciences
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• v.23 no.4
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• pp.385-396
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• 2006

The International GNSS Service (IGS) has prepared for a transition from the relative phase conte. variation (PCV) to the absolute PCV, because the terrestrial scale problem of the absolute PCV was resolved by estimating the PCV of the GPS satellites. Thus, the GPS data will be processed by using the absolute PCV which will be an IGS standard model in the near future. It is necessary to compare and analyze the results between the relative PCV and the absolute PCV for the establishment of the reliable processing strategy. This research analyzes the effect caused by the absolute PCV via the GPS network data processing. First, the four IGS stations, Daejeon, Suwon, Beijing and Wuhan, are selected to make longer baselines than 1000km, and processed by using the relative PCV and the absolute PCV to examine the effect of the antenna raydome. Beijing and Wuhan stations of which the length of baselines are longer than 1000km show the average difference of 1.33cm in the vertical component, and 2.97cm when the antenna raydomes are considered. Second, the 7 permanent GPS stations among the total 9 stations, operated by Korea Astronomy and Space Science Institute, are processed by applying the relative PCV and the absolute PCV, and their results are compared and analyzed. An insignificant effect of the absolute PCV is shown in Korea regional network with the average difference of 0.12cm in the vertical component.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.3
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• pp.259-267
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• 2020

For real-time precise positioning, N-RTK (Network Real-Time Kinematic) technology is widely used these days. However, the currently operating N-RTK system has a limitation in terms of the number of users. Therefore, if reference points generate correction messages with no limit on the number of users are developed later, it is determined that an appropriate reference point installation interval is required, so that the accuracy of the N-RTK system according to the baseline distance was analyzed. This experiment utilized receivers with varying performance that estimated the rover position, and RTKLIB, an open-source software, is used for processing data. As a result, the rover position was estimated accurately with a high rate of fixed ambiguity for all the receivers. When the reference station with a baseline length of 40 km was used, the vertical RMSE (Root Mean Squared Error) was quite similar to the short baseline case, but only half of the ambiguity fixing rate was achieved. The outlier in the estimated rover position was not observed for the longer baselines in the case of a high-end receiver. It is necessary to analyze the ambiguity fixing and the accuracy of the kinematic positioning with scientific GNSS processing software.

• Journal of Astronomy and Space Sciences
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• v.28 no.1
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• pp.55-62
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• 2011

The precise orbit determination (POD) of low earth orbiter (LEO) has complied with its required positioning accuracy by the double-differencing of observations between International GNSS Service (IGS) and LEO to eliminate the common clock error of the global positioning system (GPS) satellites and receiver. Using this method, we also have achieved the 1 m positioning accuracy of Korea Multi-Purpose Satellite (KOMPSAT)-2. However double-differencing POD has huge load of processing the global network of lots of ground stations because LEO turns around the Earth with rapid velocity. And both the centimeter accuracy and the near real time (NRT) processing have been needed in the LEO POD applications--atmospheric sounding or urgent image processing--as well as the surveying. An alternative to differential GPS for high accuracy NRT POD is precise point positioning (PPP) to use measurements from one satellite receiver only, to replace the broadcast navigation message with precise post processed values from IGS, and to have phase measurements of dual frequency GPS receiver. PPP can obtain positioning accuracy comparable to that of differential positioning. KOMPSAT-5 has a precise dual frequency GPS flight receiver (integrated GPS and occultation receiver, IGOR) to satisfy the accuracy requirements of 20 cm positioning accuracy for highly precise synthetic aperture radar image processing and to collect GPS radio occultation measurements for atmospheric sounding. In this paper we obtained about 3-5 cm positioning accuracies using the real GPS data of the Gravity Recover and Climate Experiment (GRACE) satellites loaded the Blackjack receiver, a predecessor of IGOR. And it is important to reduce the latency of orbit determination processing in the NRT POD. This latency is determined as the volume of GPS measurements. Thus changing the sampling intervals, we show their latency to able to reduce without the precision degradation as the assessment of their precision.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.229-236
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• 2020

The trend of water vapor contents in atmosphere is one of key elements for studying climate change. The tropospheric products, i.e., ZTD values achieved through GPS data processing can retrieve the amount of water vapor with higher temporal and spatial resolution than any other instruments. In this study, the tropospheric products of KASINET for a time period from 2001 to 2014 are reprocessed using PPP strategy and the products from the CODE's 2nd reprocessing campaign. For consistency with reprocessing activities of other networks like EPN, the VMF1 mapping function and non-tidal loading effect due to atmospheric pressure are applied in the process. The reprocessing results are investigated through comparing with the CODE's 2nd reprocessing products by including some IGS stations in the process and also calculating weekly coordinate repeatability to see the quality of the processing. After removing outliers based on the variation of averaged formal error, all processed stations have similar variations of formal error about 2 mm which is lower than that of the IGS final product. Comparison results with the CODE's 2nd reprocessing products show that the overall mean difference is found to be -0.28±5.54 mm which is similar level of the previous studies. Finally, the ZTD trends of all KASINET stations are calculated and the averaged trend is achieved as 0.19 mm/yr. However, the trend of each month shows different amounts and directions from -1.26 mm/yr in May to 1.18 mm/yr in August. In conclusion, the reprocessed tropospheric product and applied strategy of this study has enough quality as one of reliable solution for a reference product for Korean Peninsula which is needed to use GPSbased tropospheric product for climate change research.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.265-277
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• 2015

Automatic dependent surveillance-broadcast (ADS-B) is the core technology of communication, navigation and surveillance/air traffic management (CNS/ATM), automatically broadcasts its own position information using GNSS and has an advantage of lower geological constraints and faster update speed compared with legacy radar systems. EUROCONTROL defined all purpose structured eurocontrol surveillance information exchange (ASTERIX) CAT.021. ASTERIX CAT.021 is modified several times, but it has compatibility issues with previous version of it. In this paper, we have designed an efficient message processing module regardless of the version of ASTERIX CAT.021. This implemented module generates patterns to collect messages received from the network, after that, received messages are processed in the routine that is defined in accordance with the patterns.

• Journal of The Korean Astronomical Society
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• v.51 no.5
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• pp.143-153
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• 2018

We present the first results of the invariant point (IVP) coordinates of the KVN Ulsan and Tamna radio telescopes. To determine the IVP coordinates in the geocentric frame (ITRF2014), a coordinate transformation method from the local frame, in which it is possible to survey using the optical instrument, to the geocentric frame was adopted. The least-square circles are fitted in three dimensions using the Gauss-Newton method to determine the azimuth and elevation axes in the local frame. The IVP in the local frame is defined as the mean value of the intersection points of the azimuth axis and the orthogonal vector between the azimuth and elevation axes. The geocentric coordinates of the IVP are determined by obtaining the seven transformation parameters between the local frame and the east-north-up (ENU) geodetic frame. The axis-offset between the azimuth and elevation axes is also estimated. To validate the results, the variation of coordinates of the GNSS station installed at KVN Ulsan was compared to the movement of the IVP coordinates over 9 months, showing good agreement in both magnitude and direction. This result will provide an important basis for geodetic and astrometric applications.

• Journal of KIISE:Information Networking
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• v.35 no.5
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• pp.453-463
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• 2008

The missing child problem is no more a personal problem. It became a social problem that all parents must consider. To this, this study applies USN/RFID technology integrated with GIS for the prevention of missing child. Although RFID is not designed for location sensing, but now it is regarded as a device to facilitate real time location awareness. Such advantages of RFID can be integrated with 4S(GIS/GPS/LBS/GNSS) achieving much synergy effects. In order to prevent kidnapping and missing child, it is necessary to provide a missing child preventing system using a ubiquitous computing system. Therefore, the missing child preventing system has been developed using high-tech such as RFID, GPS network, CCTV, and mobile communication. The effectiveness of the missing child prevention system can be improved through an accurate location tracking technology. This study propose and test a location sensing system using the active RFID tags. This study verifies technical applied service, and presents a system configuration model. Finally, this paper confirms missing child prevention system utilization possibility.

• Journal of Astronomy and Space Sciences
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• v.31 no.3
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• pp.225-233
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• 2014

The first Korean satellite laser ranging (SLR) system, Daedeok SLR station (DAEK station) was developed by Korea Astronomy and Space Science Institute (KASI) in 2012, whose main objectives are space geodesy researches. In consequence, Korea became the $25^{th}$ country that operates SLR system supplementing the international laser tracking network. The DAEK station is designed to be capable of 2 kHz laser ranging with precision of a few mm both in daytime and nighttime observation of satellites with laser retro-reflector array (LRA) up to the altitude of 25,000 km. In this study, characteristics and specifications of DAEK station are investigated and its data quality is evaluated and compared with International Laser Ranging Service (ILRS) stations in terms of single-shot ranging precision. The analysis results demonstrated that the DAEK station shows good ranging performance to a few mm precision. Currently, the DAEK station is under normal operations at KASI headquarters, however, it will be moved to Sejong city in 2014 to function as a fundamental station for space geodesy researches in combination with other space geodesy systems (GNSS, VLBI, DORIS, etc.).