• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.6
• /
• pp.603-607
• /
• 2008

This paper proposes a fast acquisition method using INS velocity and multiple correlators for high speed vehicles. In order to reduce acquisition time in GPS receiver, the method utilizes inertial velocity information and multiple correlators. Search range of the Doppler frequency is reduced by using INS velocity and the number of cells at one search can be increased by using multiple correlators. By using both multiple correlators and the INS velocity in the acquisition, search space can be greatly reduced. Experimental results show that the method gives faster signal acquisition performance than the conventional method.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38C no.9
• /
• pp.757-763
• /
• 2013

This study discusses the multiple knife-edge diffraction loss with the receiver and jammer located in the Seoul metropolitan northwestern region. The considered positioning and jamming signals are the GPS L1 C/A signal and several jamming signals such as the wideband Gaussian noise, matched spectrum, and continuous wave signals. To calculate the accurate diffraction effects, the 3-dimensional topography data at the Seoul metropolitan northwestern region was used.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.1
• /
• pp.27-35
• /
• 2008

A navigation system is one of the important components of an unmanned ground vehicle (UGV). A GPS receiver collects data signals transmitted by (Earth orbiting) satellites. However, these data signals may contain many errors resulting misinformation and depending on one's position (environment), reception may be impossible. The proposed self-driven algorithm uses three low-cost GPS in order to minimize errors of existing inexpensive single GPS's driving algorithm. By using reliable final data, which is analyzed and combined from each of three GPS's received data signals, gathering a vehicle's steering performance information and its current pin-point position is improved even with error containing signals or from a place where signal gathering is impossible. The purpose of this thesis is to explain navigation system algorithm using multiple GPS and compass sensor and prove the algorithm through experiments.

• Proceedings of the IEEK Conference
• /
• 1999.06a
• /
• pp.90-93
• /
• 1999

본 논문에서는 캐리어의 동기가 맞았다는 가정 하에서 초기동기 직렬탐색 방식중의 하나인 Multiple Dwell 방식을 사용하여 각각의 초기동기 평균 획득시간과 분산 값을 비교하였다. 문턱값의 설정은 Maximum Likelihood 방식을 도입하여 MATLAB으로 이론값을 계산하고, 이를 SPW라는 시뮬레이션 툴로 모델링을 하여 시뮬레이션 값과 이론값을 비교 분석하였다. 신호 대 잡음비에 대한 Multiple Dwell 방식의 성능을 비교 분석한 결과. Dwell의 수가 증가할수록 성능은 개선되지만 Dwell의 수가 2일 때가 성능 개선 폭이 가장 컸고 Dwell의 수가 4이상에서는 개선 폭이 아주 작아짐 을 보였다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.16 no.2
• /
• pp.235-242
• /
• 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 the Korea Institute of Military Science and Technology
• /
• v.6 no.1
• /
• pp.91-107
• /
• 2003

A 2-dimensional search process in the time and frequency domain is required to acquire the GPS signal, when the code phase and the carrier Doppler for the specified GPS satellite signal are unknown. This paper proposes a new scheme, called Squared-D Searching Method, which can reduce the number of carrier frequency candidates, and a new scheme, named extended Multiple Correlator(XMC), which can reduce the number of code phase candidates. The Squared-D Searching Method can take the twice of Doppler frequency, therefore it can find carrier frequency candidates. The XMC is different from the general multiple correlator in that a combined form of the locally generated codes is used for despreading. Also, this paper tries to analyze a signal detection probability of a GPS receiver under more realistic environments. The result shows that lower detection probability can be obtained when the phase differences among the codes are larger in the correlation arms of a multiple correlator. This phenomenon is not easy to explain with the previous results. And besides, the result shows that proposed acquisition schemes give better performance than a conventional acquisition scheme.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.2
• /
• pp.229-234
• /
• 2006

Acquisition is to detect the presence of the GPS signal. Once the signal is detected, the estimated frequency and code phase are passed to a tracking loop to demodulate the navigation data. In order to detect the weak signal, multiple length of data integration is always needed. In this paper, we present five different acquisition approaches based on circular correlation and Fast Fourier Transform (FFT), using coherent as well as non-coherent integration techniques for the multiple length of collected GPS satellite signal. Moreover a general approach of determining the acquisition threshold is introduced based on noise distribution which has been proved effective, and independent of the hardware. In the end of this paper, the processing speed and acquisition gain of each method are illustrated, compared, and analyzed. The results show that coherent approach is much more time consuming compared to noncoherent approaches, and in the case of multiple length of data integration from 2ms to 8ms, the processing times consumed by the fastest non-coherent acquisition method are only 25.87% to 1.52% in a single search, and 34.76% to 1.06% in a global search of those in the coherent acquisition. However, coherent acquisition also demonstrates its better performance in the acquisition gain, and in the case of 8ms of data integration it is 4.23 to 4.41 dB higher than that in the non-coherent approaches. Finally, an applicable scheme of combining coherent and non-coherent acquisition approaches in the development of a real-time Software GPS receiver in the University of Tokyo is provided.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.3
• /
• pp.260-267
• /
• 2007

GPS adapter kit (GAK) is a GPS/INS guided range extension system to improve the accuracy and availability of existing dumb bombs. In this paper, a van test result of GPS/INS navigation module (NM) for guided bomb with GAK has been presented. The NM consists of a commercial MEMS IMU, embedded GPS receiver and navigation computer unit (NCU). The GPS receiver of NM was designed to use multiple antennas for satellite visibility and GPS attitude determination. The real-time navigation software was designed by modularized structure to guarantee the maintainability and extensibility. In order to evaluate the performance of the NM, a van test was preformed by using a high performance INS - Honeywell H-726 MAPS(Modular Azimuth Position System).The van test results show that the GAK NM with GPS attitude measurement gives better navigation performance than a conventional GPS/INS integration and good coasting capabilities under jamming environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.114.6-114
• /
• 2001

According to expansion of wireless communication system and mobile device, interest has been growing in personal navigation system integrated with wireless system. In portable consumer electronics, such as cellular phones, GPS and PDA, one of major design factors is the power consumption. Solutions of reducing the power dissipation are low voltage, low system clock power management and so on. This paper develops a GPS receiver based on the advanced power management algorithm that achieves very low average power consumption. Both RF and DSP chips are powered down and reactivated only when the position fixing is required. In order to run, the developed includes the RTC calibration function and the fast reacquisition function using XMC (eXtended Multiple Correlator) ...

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.273-283
• /
• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.