• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.625-627
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• 2003

In this study, the Global Positioning System (GPS) data collected by the GPS receivers that were established as continuously operating reference stations by Central Weather Bureau and Industrial Technology Research Institute of Taiwan are utilized to investigate the impact of atmospheric water vapor on GPS positioning determination. The surface meteorological measurements that were concurrently acquired by instruments co-located with the GPS receivers include temperature, pressure and humidity data. To obtain the influence of the baseline length on the proposed impact study, four baselines are considered according to the locations of the permanent GPS sites. The length of the shorter baseline is about 66km, while the longer is about 118 km. The results from the studies associated with different baseline lengths and ellipsoid height were compared for the cases with and without a priori knowledge of surface meteorological measurements. The finding based on 66 days measurements is that the surface meteorological measurements have a significant impact on the positioning determination for the longer baseline case. The associated daily maximum differences are 1.1 cm and 1.4 cm for the baseline and ellipsoid height respectively. The corresponding biases are -8.1 mm in length and -7.3 mm in el lipsoid height.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.54-54
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• 2000

For its synergistic relationship, an integrated SDINS/GPS system has been adopted in many navigation areas. As an application of SDINS/GPS integration, the in-flight alignment process of a SDINS utilizing GPS carrier phase measurements is introduced and analyzed via an observability analysis using nul1 space method. A measurement model of double-differenced GPS carrier phase measurements is newly derived in order to be used with a SDINS error model. Also, conditions for determining the complete observability of a SDINS/GPS system are suggested and proved. Consequently, it is shown that the system is not completely observable in case of one basel me. With one baseline aligned with y-axis of body frame, pitch error and x-axis accelerometer bias are unobservable states. Also shown is that al1 states are completely observable when sequential maneuver is performed. Above results are confirmed by a covariance analysis.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1984-1986
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• 2001

In order to provided continuous solutions, latest developing navigation systems tend to integrate GPS receiver with INS or DR. Using the GPS carrier-phase measurements, an attitude GPS receiver with three antennas obtain the 3-dimensional attitude such as roll, pitch, and heading as well as position and velocity. With these angle measurements, in the attitude GPS/INS integrated system, attitude or gyro errors can be directly compensated. In this paper, we develop an integrated navigation system that combines attitude GPS receiver with INS. The performance of real-time integrated navigation system is determined by not only the implements of integration filter but also the synchronization of measurements. To meet these real-time requirements, the navigation software is implemented in multi-tasking structure in this paper. We also employ time-synchronization technique in the multi-sensor fusion. Experimental results show that the performance of the attitude GPS/INS integrated system is consistent even when cycle-slip occurs in carrier-phase measurements.

• Journal of Electrical Engineering and Technology
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• v.7 no.3
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• pp.429-435
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• 2012

In this study, a real-time architecture for the detection of clock jumps in the GPS clock behavior is proposed. GPS satellite atomic clocks have characteristics of a second order polynomial in the long term showing sudden jumps occasionally. As satellite clock anomalies influence on GPS measurements which could deliver wrong position information to users as a result, it is required to develop a real time technique for the detection of the clock anomalies especially on the real-time GPS applications such as aviation. The proposed strategy is based on Teager Energy operator, which can be immediately detect any changes in the satellite clock bias estimated from GPS carrier phase measurements. The verification results under numerous cases in the presence of clock jumps are demonstrated.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.723-732
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• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.941-946
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• 2011

The Loran-C, a radio navigation system based on TDOA measurements is enhanced to eLoran using TOA measurements instead of TDOA measurements. Many error factors such as PF, SF, ASF, clock errors and unknown biases are included in eLoran TOA measurements. Because these error factors can cause failure in eLoran navigation algorithm, these errors must be compensated for high accuracy eLoran navigation results. Compensation of ASF and unknown biases are difficult to calculate, while the others such as PF and SF are relatively easy to eliminate. In order to compensate all errors in eLoran TOA measurements, a simple GPS aided bias compensation method is suggested in this paper. This method calculates the bias as the difference of TOA measurement and the range between eLoran transmitters and the receiver whose position is determined using GPS. The real data measured in Europe are used for verification of suggested method and navigation algorithm.

• 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.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.10
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• pp.1279-1286
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• 1999

In conventional GPS/DR integration schemes, the GPS position (or pseudo-range) information is used in calibrating DR sensors. In those schemes, however, an inaccurate calibration may degrade the position accuracy when the GPS measurement is not available. This paper presents a new integration scheme where the GPS velocity information is used in calibrating DR sensors. Also proposed is a new error model of DR sensors for calibrating the bias error and the tilt error in dynamic environments. The proposed model makes it possible that the errors of both the DR sensor parameters and the velocity are calibrated using the GPS carrier-based velocity(or the pseudo-range rate) measurement while the DR position error is calibrated using the GPS position measurement. Since the DR sensors are calibrated accurately, the positioning accuracy is drastically improved when the GPS measurements are unavailable.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.1
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• pp.33-39
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• 2018

As the retrieval accuracy of PWV estimates from GPS measurements is proportional to the accuracy of water vapor WMT, the WMT model is a significant formulation in the conversion of PWV from the GPS ZWD. The purpose of this study is to develop a MWMT model for the retrieval of highly accurate GPS PWV using the radiosonde measurements from six upper-air observing stations in the region of Korea. The values of 1-hr PWV estimated at four GPS stations during one year are used to evaluate the validity of the MWMT model. It is compared to the PWV obtained from radiosonde data that are located in the vicinity of GPS stations. Intercomparison of radiosonde PWVs and GPS PWVs derived using different WMT models is performed to assess the quality of our MWMT model for Korea. The result in this study indicates that the MWMT model is an effective model to retrieve the enhanced accurate GPS PWV, compared to other GPS PWV derived by Korean annual or global WMT models.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.514-519
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• 2017

In this paper, the pseudorange-based GPS performance using the Android's raw measurements is compared with NMEA. In order to compare the performance between the two different implementations, we used Nexus 9 tablets and collected the raw measurements and NMEA data using the GNSS logger application provided by Google. To verify the performance of the final coordinates calculated, the VRS was used as the reference coordinate and compared with the NMEA results. The resulting horizontal, vertical, and 3D RMS errors of the pseudorange-based GPS using the Android's raw measurements are 3.05, 3.82, and 4.97 m, respectively, which correspond to 32% horizontal, 65% vertical and 49% 3D performance improvement compared with NMEA.