• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.6_1
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• pp.537-543
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• 2007

Since the GPS absolute positioning with pseudorange measurements can significantly be affected by the observation error, the time series analysis of the GPS receiver clock errors was performed in this study. From the estimated receiver clock errors, the time series model is generated, and constrained back in the absolute positioning process. One of the CORS (Continuously Operating Reference Stations) network is used to analyze the behavior of the receiver clock. The dominant part of the model is the linear trend during 24 hours, and the seasonal component is also estimated. After constraining the modeled receiver clock errors, the estimated position error compared to the published coordinates is improved from ${\pm}11.4\;m\;to\;{\pm}9.5\;m$ in 3D RMS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.265-270
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• 2006

Recently, inertial sensors like gyros and accelerometers have been quite miniaturized by Micro Electro-Mechanical Systems (MEMS) technology. JAXA is developing a MEM-based GPS/INS hybrid navigation system named Micro-GAIA. The navigation performance of Micro-GAIA was evaluated through off-line analysis by using flight test data. The estimation errors of the roll, pitch, and azimuth were $0.03^{\circ}$, $0.05^{\circ}$, $0.05^{\circ}$ $(1{\sigma})$, respectively. he horizontal position errors after 60-second GPS outages were reduced to 25 m CEP. The attitude errors and position errors are nearly half of ones reported previously[2]. Furthermore, using the adaptive Kalman filters, the robustness against the uncertainty of the measurement noise was improved. Comparing the innovation-based and residual-based adaptive Kalman filters, it was confirmed that the latter is robuster than the former.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.5-64
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• 2001

It is a very important problem that we grasp the accurate position at car navigation system. The GPS has used for knowing position because of accumulating few errors, but it have errors that are Tropospheric error, ionospheric error and Multipath error and so on. In this paper, We estimate moving position of a vehicle by Kalman filter using initial value after deducing the line equation using initial value and target value of map data. Then, we compensate GPS errors compare estimated poing with GPS errors. The experimental results have shown that are compared position data during real travel with compensated position data which are got after applying the algorithm ...

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.235-242
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• 1998

This study aims to detect and to reduce the multipath errors which are main errors source in high precious surveying such as GPS-aided aerial triangulation and Car Navigation. which reference receivers being fixed, when kinematic receivers move continuously, multipath is performed using smoothed code measurement and pure code measurement in the network. Through this methods, 3D RMS errors are reduced into about 30% in the single differential code solution to the kinematic receiver. This is based on the fact that the network adjustment are performed at multiple reference receivers, but positioning is carried out by the single differential methods between a reference receiver and a kinematic receiver. So it was supposed that this methods reduced the correlation errors including the atmospheric errors using the nearest receivers and can be mixed with another methods.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.944-952
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• 2001

Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it is desired to combine INS with external aids such as GPS. However GPS informations have a randomly abrupt jump due to a sudden corruption of the received satellite signals and environment, and moreover GPS can\`t provide navigation solutions. In this paper, smoothing and prediction schemes are proposed for GPS`s jump or unavailable GPS. The smoothing algorithm which is designed as a scalar adaptive filter, smooths abrupt jump. The prediction algorithm which is proved by Schuler error model of INS, estimates INS error in appropriate time. The outputs of proposed algorithm apply stable measurements to GPS aided INS Kalman filter. Simulations show that the proposed algorithm can effectively remove measurement jump and predict INS error.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.702-710
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• 2008

In this paper, the observability of the INS/GPS integrated system for a land vehicle is analyzed on measurements and different filters with respect to the measurements are designed. In the stationary case, it is shown that horizontal accelerometer biases and vertical attitude errors and gyro biases are unobservable. An 8-state filter is designed based on the observability analysis. When GPS signal is available, a 15-state filter is used with position and velocity measurements. To estimate the INS errors even in the case that GPS signal is blocked a filter is designed in consideration of the non-holonomic constraints of a land vehicle. In this case, the horizontal position and velocity errors and vertical attitude error are unobservable. However, a 12-state filter including the velocity states is designed to estimate the accelerometer biases. When GPS signal recovers, a 9-state filter is used excluding the sensor biases. This paper presents a multi-dimensional filter that switches the four filters according to the usable measurements and maneuver environments. A simulation is carried out to verify the performance of the proposed filter.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1253-1267
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• 2005

Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multi-antenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.4
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• pp.411-420
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• 2009

To plan a GPS survey, they have to decide if a survey can be conducted at a specific point and time based on the predicted GPS ephemeris. In this study, to predict ephemeris, we used the repeat time of a GPS satellite. The GPS satellite repeat time was determined by analysing correlation among three-dimensional satellite coordinates provided by the 48-hour GPS ephemeris in the ultra-rapid orbits. By using the calculated repeat time and Lagrange interpolation polynomials, we predicted GPS orbits f3r seven days. As a result, the RMS of the maximum errors in the X, Y, and Z coordinates were 39.8 km 39.7 km and 19.6 km, respectively. And the maximum and average three-dimensional positional errors were 119.5 km and 48.9 km, respectively. When the maximum 3-D positioning error of 119.5 km was translated into the view angle error, the azimuth and elevation angle errors were 9.7'and 14.9', respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.4
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• pp.319-326
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• 2006

To get the highly-accurate and precise position of a GPS receiver, they should consider the state-of-the-art GPS force and measurement models. Especially, the phase center variations (PCV) of a GPS antenna can cause several centimeters of positioning errors in the vertical direction. In this study, we implemented four different models of PCV and evaluated their impact on the computed coordinates. The test data were taken from the 14 National Geography Information Institute permanent GPS stations and 30 Minisry of Government Administration and Home Affairs sites. For different combinations of calibration methods, an average of 1.3-2.6cm of height difference was observed. Also, we found a maximum error of ${\sim}4mm$ in the estimates of the precipitable water vapors.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1232-1237
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• 2008

This paper introduces an application of wavelet analysis to the sensor fusion of GPS/INS/baroaltimeter. Using wavelet analysis the baro-inertial altitude is decomposed into the low frequency content and the high frequency content. The high frequency components, 'details', represent the perturbed altitude change from the long time trend. GPS altitude is also broken down by a wavelet decomposition. The low frequency components, 'approximations', of the decomposed signal address the long-term trend of altitude. It is proposed that the final altitude be determined as the sum of both the details of the baro-inertial altitude and the approximations of GPS altitude. Then the final altitude exclude long-term baro-inertial errors and short-term GPS errors. Finally, it is shown from the test results that the proposed method produces continuous and sensitive altitude successfully.