DOI QR코드

DOI QR Code

A Design of Free Velocity Bias for GPS Receiver

  • Nguyen, Phi-Long (School of Electrical Engineering, University of Ulsan) ;
  • Kim, Hyun-Soo (Railway System Team, R&D Center, POSCON Corporation) ;
  • Kim, Han-Sil (School of Electrical Engineering, University of Ulsan)
  • Published : 2007.12.31

Abstract

This paper proposes a 2-step Kalman filter model for land vehicle navigation using civilian-band GPS measurements. The velocity bias caused by the Earth#s rotation would be removed completely when applying this model. Because the linearization of velocity equations in this model is not necessary, the error is significantly reduced. The experiment reveals that estimated position error with stationary data is about 5m during a 15-20 minute interval. The other benefit of this model is that it can be feasibly applied as a GPS receiver module thanks to the small sizes of the necessary manipulating matrices.

Keywords

References

  1. Robert Grover Brown - Patrick Y.C. Hwang, Introduction to random signals and applied Kalman filtering: John Wiley & Sons, 1997
  2. E.D. Kaplan. Understanding GPS, Principles and Application: Second Edition, Artech House Publishers, 2005
  3. Simon Cooper and Hugh Durrant-Whyte, 'A Kalman Filter Model for GPS Navigation of Land Vehicles', IROS '94, Proc. of the IEEE/RSJ/GI International Conf., Vol. 1, 1994, 157-163
  4. P.Y.C. Hwang and R.G. Brown. 'GPS Navigation: Combining Pseudorange with Continuous Carrier Phase using a Kalman Filter'. NAVIGATION, Journal of the Institute of Navigation, Vol. 37, 1990, 181-196 https://doi.org/10.1002/j.2161-4296.1990.tb01546.x
  5. J.J. Leonard and H. Durrant-Whyte. 'Mobile Robot Localisafion by Tracking Geometric Beacons'. IEEE Journal on Robotics and Automation, Vol. 7, 1991, 376-381 https://doi.org/10.1109/70.88147
  6. K. Sarachik., 'Characterising an Indoor Environment with a Mobile Robot and Uncalibrated Sieno', In Proc. IEEE Intl. Conf. Robotics and Automation, 1989
  7. Jung-Han Kim and Jon-Ho Oh, 'A land vehicle tracking algorithm using stand-alone GPS', Control Engineering Practice, Vol 8, 2000, 1189-1196 https://doi.org/10.1016/S0967-0661(00)00048-4
  8. A. Harter, A. Hopper, P. Steggles, A. Ward, and P. Webster, 'The anatomy of a context-aware application', ACM MOBICOM, 1999
  9. P. Bahl and V.N. Padmanabhan, 'RADAR: An inbuilding RF-based user location and tracking system', INFOCOM, 2000
  10. P. Bahl and V.N. Padmanabhan, 'Enhancements to the RADAR user location and tracking system', Technical report, Microsoft Research, 2000
  11. L.A. Latiff, A. Ali, Ooi Chia-Ching and Nc. Fisal, 'Development of an indoor GPS-free self-positioning system for mobile ad hoc network (MANET)', ICON Networks 2005, Vol. 2, 2005, 1062-1067