• Journal of the Korea Institute of Information and Communication Engineering
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• v.27 no.1
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• pp.139-142
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• 2023

In this paper, we propose a GNSS-UWB hybrid positioning system for indoor and outdoor seamless positioning. Fusion of GNSS and inertial sensors has been widely used as a method for estimating positions in places where GNSS reception sensitivity is low, and UWB technology, which started as a short-range wireless communication technology, is widely used indoors where GNSS is completely blocked. This paper proposes a method of mutual correction and fusion of the location information collected through GNSS and the location information collected from the UWB indoor positioning system when indoor and outdoor work occurs continuously and repeatedly, such as in an industrial site.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.6
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• pp.373-379
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• 2015

A hybrid navigation system is implemented to apply for a mobile robot. The hybrid navigation system consists of an inertial navigation system and a global positioning system. The inertial navigation system quickly calculates the position and the attitude of the robot by integrating directional accelerations, angular speed, and heading angle from a strap-down inertial measurement unit, but the results are available for a short time since it tends to diverge quickly. Global positioning system delivers position, heading angle, and traveling speed stably, but it has large deviation with slow update. Therefore, a hybrid navigation system uses the result from an inertial navigation system and corrects the result with the help of the global positioning system where an indirect feedback Kalman filter is used. We implement and confirm the performance of the hybrid navigation system through driving a car attaching it.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.2
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• pp.155-164
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• 2013

Two design techniques for more accurate and more convenient hybrid positioning system with visible light communication (VLC) and ad-hoc wireless network infrastructure are proposed, in order to overcome the problems of high estimation error, high cost, and limited service range of the conventional positioning techniques. First method is based on a non-carrier VLC based hybrid positioning technique for applications involving of low data rate optical sensing and narrow-range visible light reception from transmitter, and long-range positioning. The second method uses a 4 MHz carrier VLC-based hybrid positioning technique for a high data rate optical sensing and wide-range visible light receiving from transmitter, and mid-range positioning applications. In indoor environments with obstacles where there are long-range 7731.4cm and mid-range 2368cm distances between an observer and a target respectively, the hybrid positioning developed with two design techniques are tested, and the proposed system is verified and analyzed in this paper.

• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.564-573
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• 2015

GPS is the representative positioning technology for providing the location information. This technique has the disadvantage that does not operate in the shadow areas, such as urban or dense forest and the interior. This paper proposes a hybrid indoor positioning algorithm, which estimates a more accurate location of the terminal using strength of the Wi-Fi signal from the indoor AP. To determine the location of the user, we establish the most appropriate path loss model for the measurement environment. by using the RSSI value measured in a variety of environment such as building structure, person, distance, etc. The path loss exponent obtained by the path loss model is changed according to the environment. REKF, PF estimate the position of the terminal by using measured value from the AP with path loss exponent. For more accurate position estimation, we select positioning system by the value of threshold measured by experiments rather than a single positioning system. Experimental results using the proposed hybrid algorithm show that the performance is improved by about 17% than the conventional single positioning method.

• ETRI Journal
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• v.45 no.6
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• pp.939-951
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• 2023

It is critical to estimate the location using only Long-Term Evolution (LTE) and Wi-Fi information gathered by the user's smartphone and deployable for emergency rescue, regardless of whether the Global Positioning System is received. In this research, we used a vehicle to gather LTE and Wi-Fi wireless signals over a large area for an extended period of time. After that, we used the learning technique to create a positioning database that included both collection and noncollection points. We presented a two-step positioning algorithm that utilizes coarse localization to discover a rough location in a wide area rapidly and fine localization to estimate a particular location based on the coarse position. We confirmed our technology utilizing different sorts of devices in four regional types that are generally encountered: dense urban, urban, suburban, and rural. Results presented that our algorithm can satisfactorily achieve the target accuracy necessary in emergency rescue circumstances.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.962-967
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• 2006

Indoor positioning is highlighted recently, and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are classified into time-based and angle-based one. This paper presents the error analysis of time-based and angle-based location methods. Because measurements of these methods are nonlinear, linearizations are needed in both cases to estimate the user position. In the linearization, Gauss-Newton method is used in both cases. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA.

• Electronics and Telecommunications Trends
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• v.38 no.3
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• pp.11-19
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• 2023

Drones, which were early operated by remote control, have evolved to enable autonomous flight by combining various sensors and software tools. In particular, autonomous flight of drones was possible since the application of GNSS-RTK (global navigation satellite system with real-time kinematic positioning), a precision satellite navigation technology. For instance, unmanned drone delivery based on GNSS-RTK data was demonstrated for pizza delivery in Korea for the first time in 2021. However, the vulnerabilities of GNSS-RTK should be overcome for delivery drones to be commercialized. In particular, jamming in the navigation system and low positioning accuracy in urban areas should be addressed. Solving these two problems can lead to stable flight, takeoff, and landing of drones in urban areas, and the corresponding solutions are expected to establish a hybrid positioning technology. We discuss current trends in hybrid positioning technology that can either replace or complement GNSS-RTK for stable drone autonomous flight.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.471-477
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• 2013

We have studied on the possibility of precise positioning using hybrid Track Circuit system. Hybrid Track Circuit uses RFID which replaces UHF. Hybrid Track Circuit is a part of next generation railroad signal system which is available to communicate with a railway on board system based on a realtime operating system. If applicate on a current hand operating subway, phenomenon caused by driver's mistake such as passing a stop without stopping or mismatch error between PSD and train door should be prevented.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.65-75
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• 2012

We carry out an error analysis of 24-hour global positioning system (GPS)-very long baseline interferometry (VLBI) (GV) hybrid observation data. In this paper, we focus on the impacts of broadcast and final orbits on the GPS delays of the GV hybrid observation by analyzing the residuals, observed - calculated (O-C) values. The residuals show apparent and consistent biases for L1 and L2 signals, respectively. The scatters of the residuals are around a few nanoseconds. The main cause of those observation errors is the absence of the GPS phase and delay calibration system. Most of the satellites show that the differences between the delays, to which broadcast and final orbits are applied, are about 100 times smaller than the current GV hybrid observation errors. We conclude that GPS delays are not greatly affected by orbit accuracies.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.215-220
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• 2021

As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.