• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.7-14
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• 2012

Due to inaccurate safe navigation estimates, maritime accidents have been occurring consistently. In order to solve this, the precise positioning technology using carrier phase information is used, but due to high buildings near inland waterways or inclination, satellite signals might become weak or blocked for some time. Under this weak signal environment for some time, the GPS raw measurements become less accurate so that it is difficult to search and maintain the integer ambiguity of carrier phase. In this paper, a method to generate code and carrier phase measurements under this environment and maintain resilient navigation is proposed. In the weak signal environment, the position of the receiver is estimated using an inertial sensor, and with this information, the distance between the satellite and the receiver is calculated to generate code measurements using IGS product and model. And, the carrier phase measurements are generated based on the statistics for generating fractional phase. In order to verify the performance of the proposed method, the proposed method was compared for a fixed blocked time. It was confirmed that in case of a weak or blocked satellite signals for 1 to 5 minutes, the proposed method showed more improved results than the inertial navigation only, maintaining stable positioning accuracy within 1 m.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.23.5-23
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• 2001

This paper is concerned with the vehicle platooning in the AHS (Automated Highway Systems). For this, a relative navigation system is developed for the vehicles operating as a platoon. The relative navigation system is based on two sensors including GPS and MMWR (Millimeter-Wave Radar) and the federated Kalman Iter processing measurements of them. The architecture of this system requires GPS measurements of a preceding vehicle via communication link. Even if GPS measurements are available, they contain errors which are unacceptably high in vehicle platooning. Therefore, GPS carrier phase is considered. Integer ambiguities of GPS carrier phase measurements are determined by using MMWR ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.114.1-114
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• 2001

GPS Receiver gives pseudorange Doppler and integrated carrier phase for measurements to compute navigation information. Thought the integrated carrier phase can be transfer to the equal domain as pseudorange by multiplying the wave length of the received signal, in order to get position information from the carrier phase measurements the integer ambiguity should be resolved. And differencing technique is generally used to eliminate the common error terms of the integrated carrier phase measurements between robber and server. In short baseline double-differencing operation has effect on elimination the common biases for both stations and thus ambiguity resolution are to be reliable. But the baseline increases, the integer ambiguity resolution is hardly, due to the correlated common error is increase ...

• Journal of Positioning, Navigation, and Timing
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• v.4 no.4
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• pp.195-203
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• 2015

In this study, the carrier acceleration-ramp-step test was applied to GPS carrier phase measurements, and the results were compared and analyzed. In the carrier acceleration-ramp-step test, the acceleration, ramp, and measurements are estimated using 10 consecutive carrier phase measurements for satellites observed at the same time based on the least square method. As for the characteristic of this test, if failure occurs in the measurement, the value jumps significantly compared to the previous result; but it judges that failure has occurred in all the satellites although failure has occurred in one satellite. Therefore, in this study, a method that eliminates a satellite with failure was suggested, and thresholds of the carrier acceleration, ramp, and step were suggested. The evaluation of the failure detection performance of carrier phase measurement using the suggested thresholds showed that failure could be detected when the carrier phase measurement changed abruptly by more than about 0.1 cycles.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.253-262
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• 2021

Global Navigation Satellite Systems (GNSS) based precise positioning using Real Time Kinematic (RTK) technique has been proposed as an enabler of the formation operation of moving vehicles. In RTK methods, the integer ambiguity of GNSS carrier phase measurements must be resolved. Although there have been many proposed algorithms for the integer ambiguity resolution, the widelane combination of carrier phase measurements and LAMBDA methods have gained the most popularity in literatures when dual frequency GNSS measurements were used. In this paper, we evaluated five alternative methods to determine relative positions of moving base and rover receivers; the round-off scheme of widelane carrier phase, instant least-squares and Kalman filter-based LAMBDA with widelane carrier phase, instant least-squares and Kalman filter-based LAMBDA with dual frequency measurements. The paper presented the performance of each method using flight test data, which showed their strength and weakness in the aspects of time-to-first-fix, ambiguity resolution success ratio, and relative position errors. Based on that, we provided practical recommendations of RTK operations for moving vehicles.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.388-396
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• 2007

This paper describes a multipath estimation method for Global Positioning System (GPS) dual frequency carrier phase measurements. Multipath is a major error source in high precision GPS applications, i.e., carrier phase measurements for precise positioning and attitude determinations. In order to estimate and remove multipath at carrier phase measurements, an array GPS antenna system has been used. The known geometry between the antennas is used to estimate multipath parameters. Dual frequency carrier phase measurements increase the redundancy of measurements, so it can reduce the number of antennas. The unscented Kalman filter (UKF) is recently applied to many areas to overcome some of the limitations of the extended Kalman filter (EKF) such as weakness to severe nonlinearity. This paper uses the UKF for estimating multipath parameters. A series of simulations were performed with GPS antenna arrays located on a straight line with one reflector. The geometry information of the antenna array reduces the number of estimated multipath parameters from four to three. Both the EKF and the UKF are used as estimation algorithms and the results of the EKF and the UKF are compared. When the initial parameters are far from true parameters, the UKF shows better performance than the EKF.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.2
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• pp.250-259
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• 2012

The need for position information in indoor environments has been growing lately. Several indoor navigation systems have been studied. Among them, pseudolite-based indoor positioning systems are one of the best systems to obtain precise position measurements. However, the installation of such systems is very difficult because the calibration of pseudolite antenna position is complicated. For precise calibration, the use of carrier phase measurements is necessary, and whenever carrier phase measurements are considered, problems with cycle ambiguity appear. In this paper, a new approach to calibrate the positions of pseudolite antennas is proposed. By using a multi-antenna, the ambiguity can be eliminated, epoch by epoch, for every single carrier phase measurement. Moreover, the number of calibration points can be reduced down to 3 by use of measurements collected at unknown positions. Using the proposed methods, the process of the collection of carrier phase measurements becomes considerably simple and convenient. Simulation results are presented to verify the proposed algorithms.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.11
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• pp.42-46
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• 2006

As an application of SDINS/GPS integration for its synergistic results, the SDINS alignments utilizing GPS carrier phase rate measurements. A measurement model of GPS carrier phase rate is derived in order to be used with SDINS alignment process. For in-flight alignment, the performance of the suggested SDINS/GPS integration method is analyzed using the covariance analysis and its results are confirmed by those of van test. Consequently, it is shown that all states of the SDINS integrated system by utilizing GPS carrier phase rate measurements can be estimated more efficiently than a general SDINS/GPS during in-flight alignment.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1254-1257
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• 2009

This paper describes characteristics of the float solutions of epoch-by-epoch GNSS precise positioning. It is shown that the accuracy of the floating solutions which are obtained using both code and carrier phase measurements are same as that of the code measurements only solution. It implies that to get more accurate floating position, the quality of code measurements are more important than that of carrier phase measurements. The results are expanded to multiple frequencies applications to get the same conclusions.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.640-647
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• 2010

Many methods have been proposed to detect faults of carrier phase measurements, but there are no distinguished methods for land transportation systems. in this paper, the baseline constraints are used to detect faults in GPS carrier phase measurements with vehicle dynamic information. The faults include the multipath on GPS carrier measurements. Multiple antenna groups are used for this research. In the measurement domain the fault detection has been accomplished so that the implementation is easier than other methods.