• 한국항공운항학회지
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• 제17권1호
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• pp.52-57
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• 2009

One of the error sources for microwave ranging is the instability of the oscillator that drives the microwave signals. Dual one-way ranging (DOWR) minimizes the oscillator effect by combining two one-way carrier phase signals from two transmitter/receiver instrument. The DOWR is first implemented in the GRACE (Gravity Recovery and Climate Experiment) satellites. Direct evaluation of the DOWR is not possible due to its extremely high accuracy. The flight performance of the GRACE DOWR is analyzed by applying several indirect methods. Comparison with the design noise level is discussed.

• 대한임베디드공학회논문지
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• 제5권4호
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• pp.234-242
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• 2010

Two-way ranging methods such as TWR and SDS-TWR have been considered for many ranging systems because these methods are useful in the absence of synchronization. To estimate the location of a mobile node, complicated ranging procedures consisting of ranging frames between an anchor node and the mobile node are performed. Supporting multiple mobile nodes such as a few hundreds or thousands and several anchor nodes, the ranging procedures have the fatal disadvantage of processing delay and inefficient traffic bandwidth. On the other hand, the one-way ranging method is simple and fast, but susceptible to network synchronization. In this paper, we propose a method to modify asynchronous ranging equations to establish exact frequency or frequency offset, a method to estimate frequencies or frequency offsets, and a method to establish post-facto synchronization with anchor nodes. The synchronization for a node pair is adapted using instantaneous time information and corresponding difference of distances can be determined. We evaluate the performance of TWR, SDS-TWR and proposed ranging algorithms.

• ETRI Journal
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• 제31권4호
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• pp.466-468
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• 2009

In this letter, we propose a one-way ranging algorithm that is based on wireless synchronization with measured timestamps and clock frequency offsets. In our proposed algorithm, an active mobile node initiates a ranging procedure by transmitting a ranging frame, and the anchor nodes report their timestamps for the received ranging frame to a reference anchor node. The synchronization of a pair of nodes is provided with instantaneous time information, and the corresponding difference of distances can be calculated.

• 한국항공우주학회지
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• 제38권11호
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• pp.1136-1143
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• 2010

NASA가 발사한 LRO 달 탐사선의 정밀궤도 결정을 위해서 지상에서 발사한 레이저를 이용하여 단방향 거리측정 기술이 적용되었는데, 이는 실제 탐사선의 임무에 활용되는 첫번째 시도라고 할 수 있다. 본 연구에서는 LRO 달 탐사선의 레이저 거리측정을 수행하는 탑재체 및 지상 시스템, 레이저 비행시간 및 망원경 지향 오차 요소들을 분석하였다. 또한, 지상에서 발사한 레이저 펄스가 earth window내에 검출되기 위한 기술들을 분석하였다. 이러한 기술들을 적용하여 실제 LRO 달 탐사선의 레이저 추적을 통해서 관측한 데이터를 분석하고 이를 통해 성공적인 단방향 거리측정 기술이 구현될 수 있음을 확인하였다.

• 로봇학회논문지
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• 제12권3호
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• pp.350-355
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• 2017

UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.125-130
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• 2013

Compared to OWR (One-Way Ranging) method that requires precise network time synchronization, TWR (Two-Way Ranging) method has advantages in building an indoor WPAN (Wireless Personal Area Network) location system with lower cost. However, clock offsets of nodes in WPAN system should be eliminated or compensated to improve location accuracy of the TWR method. Because conventional clock offset elimination methods requires multiple TWR transactions to reduce clock offset, they produce network traffic burden instead. This paper presents a clock offset estimation method that can reduce clock offset error with a single TWR transaction. After relative clock offsets of sensor nodes are estimated, clock offsets of mobile tags are estimated using a single TWR communication. Simulation results show that location accuracy of the proposed method is almost similar to the conventional clock offset elimination method, while its network traffic is about a half of the conventional method.

• 한국ITS학회:학술대회논문집
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• 한국ITS학회 2010년도 춘계학술대회
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• pp.180-183
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• 2010

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.898-902
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• 2015

Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS.

• 한국항공우주학회지
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• 제33권2호
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• pp.75-83
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• 2005

NASA와 독일 DLR의 Gravity Recovery and Climate Experiment (GRACE)는 편대비행을 하는 두 개의 저궤도 위성을 이용하여 지구중력장을 측정하는 연구이다. 주요 관측 장비는 위성 사이의 거리를 측정하기 위한 초단파 거리측정기와 비중력 가속도를 측정하기 위한 정전기 방식의 3축 가속도계이다. 기본설계 및 허용오차 분석 등에 활용하기 위하여 정밀한 관측기 시뮬레이션 모델을 개발하였는데, 본 논문에서는 이러한 모델링 기법과 이를 적용한 궤도 및 중력장 추정기법에 관해 살펴보았다.

• 한국통신학회논문지
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• 제32권7C호
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• pp.608-615
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• 2007

일반적으로 양방향 전송을 통한 TOA(Time Of Arrival) 정보는 두 디바이스간의 정확한 RTT(Round Trip Time) 정보로부터 도출되지만 디바이스간의 서로 다른 클럭 표류의 영향으로 인하여 RTT 측정 시 요구되는 응답 시간이 길 경우 매우 심각한 TOA 오차를 야기 시키게 된다. 이를 해결하기 위해서 본 논문에서는 비동기 시스템에서 클럭 표류의 영향을 줄이면서 TOA와 TDOA(Time Difference Of Arrival) 정보를 획득하는 방안을 제안한다. 이를 검증하기 위해서 IEEE 802.15.4a Task Group에서 제시한 단방향 전송을 통한 측위 방안과 비교하였으며 제안된 방안이 기존 방법들보다 개선된 성능을 보임을 확인하였다.