한국통신학회논문지 (The Journal of Korean Institute of Communications and Information Sciences)

  • 제40권9호
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  • Pages.1846-1855
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  • 2015
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  • 1226-4717(pISSN)
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  • 2287-3880(eISSN)
한국통신학회 (The Korean Institute of Commucations and Information Sciences)
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저비용 GNSS 수신기를 이용한 반송파 위상 시각간 차분 측정치 기반의 정밀 상대위치 결정 기법

A Precise Relative Positioning Method Based on Time-Differenced Carrier Phase Measurements from Low-Cost GNSS Receiver

  • Park, Kwi-Woo (Chungbuk National University Department of Control and Robotics Engineering) ;
  • Lee, DongSun (Chungbuk National University Department of Control and Robotics Engineering) ;
  • Park, Chansik (Chungbuk National University Department of Electronics Engineering/Research Institute for Computer and Information Communication)
  • 투고 : 2015.07.15
  • 심사 : 2015.08.25
  • 발행 : 2015.09.30
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초록

본 논문에서는 저비용 단일 GNSS(Global Navigation Satellite System) 수신기를 이용하여 정밀한 위치를 추정하는 방법으로 반송파 위상 TD(Time Differenced) 측정치를 이용한 상대위치 결정기법을 제안하고 성능을 분석하였다. 제안하는 상대위치 결정기법은 반송파 위상 측정치를 활용하지만 시각 간 차분을 사용하므로 하나의 GNSS 수신기로 동작하며, 미지정수 결정 문제를 고려하지 않아도 된다. 또한 차분 간격이 짧은 시간일 경우 공간적 공통오차 및 위성시계 오차를 효율적으로 제거할 수 있다. 제안하는 위치결정 알고리즘은 오차해석을 통해 코드측정치를 이용한 절대위치 결정기법보다 성능이 우수함을 증명하고 실차 실험으로 구현된 알고리즘 및 오차해석 결과를 검증하였다. 그 결과, 위치추정 성능은 약 10분 동안 3m이내에 수렴하여 코드기반의 절대위치기법에 비하여 약 4배 이상 향상된 정확도 및 정밀도를 확인할 수 있었다.

In this paper, a precise relative positioning with TD(time differenced) carrier phase measurements from a low-cost GNSS(Global Navigation Satellite System) receiver is proposed and analysed. The proposed method is using carrier phase measurement from a single GNSS receiver that reference receiver is not required and stand alone positioning is possible. TD operation removes the troublesome integer ambiguity resolution problem, and if the time interval is short, other error, such as, ionospheric, tropospheric delay and ephemeris error are effectively eliminated. The error analysis of the proposed method shows that a precise and positioning with carrier phase is possible. The implemented system is evaluated using a real car experiments. The results show that the horizontal positioning error was less than 3m during 10 minutes experiments, which is 4 times more precise than the results of normal code based absolute positioning.

키워드

참고문헌

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피인용 문헌

  1. Network-RTK GPS 기반 자동차 정밀 위치 추정 vol.42, pp.2, 2015, https://doi.org/10.7840/kics.2017.42.2.424