The next decade promises drastic improvements and additions to global navigation satellite systems (GNSS). Plans for GPS modernization include a civilian code measurement on the L2 frequency and a new L5 signal at 1176.45 MHz. Current speculations indicate that a fully operational constellation with these improvements could be available by 2013. Simultaneously, the Galileo Joint Undertaking is in the development and validation stages of introducing a parallel GNSS called Galileo. Galileo will also transmit freely available satellite navigation signals on three frequencies and is scheduled to be fully operational as early as 2008. In other words, a dual system receiver (e.g., GPS+GALILEO) for general users can access six civil frequencies transmitted by at least fifty eights navigation satellites in space. The advent of GALILEO and the modernization of GPS raise a lot of attention to the study of the compatibility and interoperability of the two systems. A number of performance analyses have been conducted in a global scale with respect to availability, reliability, accuracy and integrity in different simulated scenarios (such as open sky and urban canyons) for the two systems individually and when integrated. Therefore, the scope of this article aims at providing the technical benefits analysis for Taiwan specifically in terms of the performance indices mentioned above in a local scale, especially in typical urban canyon scenarios. The conclusions gained by this study will be applied by the Land Survey Bureau of Taiwanese as the guideline for developing future GNSS tracking facilities and dual GNSS processing module for precise surveying applications in static and kinematic modes.

Galileo is the European Global Navigation Satellite System, under civilian control, and consists on a constellation of medium Earth orbit satellites and its associated ground infrastructure. Galileo will provide to their users highly accurate global positioning services and their associated integrity information. The elements in charge of the computation of Galileo navigation and integrity information are the OSPF (Orbit Synchronization Processing Facility) and IPF (Integrity Processing Facility), within the Galileo Ground Mission Segment (GMS). Navigation algorithms play a key role in the provision of the Galileo Mission, since they are responsible for computing the essential information the users need to calculate their position: the satellite ephemeris and clock offsets. Such information is generated in the Galileo Ground Mission Segment and broadcast by the satellites within the navigation signal, together with the expected a-priori accuracy (SISA: Signal-In-Space Accuracy), which is the parameter that in fault-free conditions makes the overbounding the predicted ephemeris and clock model errors for the Worst User Location. In parallel, the integrity algorithms of the GMS are responsible of providing a real-time monitoring of the satellite status with timely alarm messages in case of failures. The accuracy of the integrity monitoring system is characterized by the SISMA (Signal In Space Monitoring Accuracy), which is also broadcast to the users through the integrity message.

This paper presents a novel signal tracking algorithm for GNSS receivers using a MLE technique. In order to perform a robust signal tracking in severe signal environments, e.g., high dynamics for navigation vehicles or weak signals for indoor positioning, the MLE based signal tracking approach is adopted in the paper. With assuming white Gaussian additive noise, the cost function of MLE is expanded to the cost function of NLSE. Efficient and practical approach for Doppler frequency tracking by the MLE is derived based on the assumption of code-free signals, i.e., the cost function of the MLE for carrier Doppler tracking is used to derive a discriminator function to create error signals from incoming and reference signals. The use of the MLE method for carrier tracking makes it possible to generalize the MLE equation for arbitrary codes and modulation schemes. This is ideally suited for various GNSS signals with same structure of tracking module. This paper proposes two different types of MLE based tracking method, i.e., an iterative batch processing method and a non-iterative feed-forward processing method. The first method is derived without any limitation on time consumption, while the second method is proposed for a time limited case by using a 1st derivative of cost function, which is proportional to error signal from discriminators of conventional tracking methods. The second method can be implemented by a block diagram approach for tracking carrier phase, Doppler frequency and code phase with assuming no correlation of signal parameters. Finally, a state space form of FLL/PLL/DLL is adopted to the designed MLE based tracking algorithm for reducing noise on the estimated signal parameters.

Modernized GPS will have three frequencies modulated with three signals, which will be accessible to all users in the near future. This new frequency provides an opportunity to resolve the double differenced (DD) integer ambiguity very fast and with almost no baseline constraints. In order to study the performance of triple frequency system for Ambiguity Resolution (AR) over the medium baseline under different ionospheric levels, the Klobuchar Model was implemented and used in our triple simulation to generate the ionospheric delay. Furthermore, the White-Gaussian noise applying to distance-dependent parameters was added to the DD ionospheric delay. For medium baseline (defined as here 20 to 40kms), success rates of AR has been pretty improved. In this paper, the medium baseline AR strategies that take advantage of carrier phase measurement on the third frequency will be discussed.

With the fast developing pace, the Galileo system is entering the navigation stage with high profile. At the same time, U.S. is accelerating his GPS modernization schedule, and Russian also begins to resuscitate their GLONASS. Moreover, Chinese Beidou system has also joined the satellite navigation family with low profile already. And of course Japanese QZSS even moves forward. Along with the bitter competition in technology, finance, market and even military affairs, all these systems will firmly benefit each other and massively extend the role of civil satellite navigation industry in the future. The Global Navigation Satellite Systems (GNSS) would be almost certain to include above major satellite navigation systems. Thus how to utilize the navigation satellite resource for world peace and promote the progress of mankind should be the key issue of this century.

Since 1993, the civil aviation community through RTCA (Radio Technical Commission for Aeronautics) and the ICAO (International Civil Air Navigation Organization) have been working on the definition of GNSS augmentation systems that will provide improved levels of accuracy and integrity. These augmentation systems have been classified into three distinct groups: Aircraft Based Augmentation Systems (ABAS), Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS). The last one is an implemented system to support Air Navigation in CAT-I approaching operation. It consists of three primary subsystems: the GNSS Satellite subsystem that produces the ranging signals and navigation messages; the GBAS ground subsystem, which uses two or more GNSS receivers. It collects pseudo ranges for all GNSS satellites in view and computes and broadcasts differential corrections and integrity-related information; the Aircraft subsystem. Within the area of coverage of the ground station, aircraft subsystems may use the broadcast corrections to compute their own measurements in line with the differential principle. After selection of the desired FAS for the landing runway, the differentially corrected position is used to generate navigation guidance signals. Those are lateral and vertical deviations as well as distance to the threshold crossing point of the selected FAS and integrity flags. The Department of Applied Science in Naples has create for its study a virtual GBAS Ground station. Starting from three GPS double frequency receivers, we collect data of 24h measures session and in post processing we generate the GC (GBAS Correction). For this goal we use the software Pegasus V4.1 developed from EUROCONTROL. Generating the GC we have the possibility to study and monitor GBAS performance and integrity starting from a virtual functional architecture. The latter allows us to collect data without the necessity to found us authorization for the access to restricted area in airport where there is one GBAS installation.

To get accurate positions of GPS antennas, one should apply phase center variations (PCV) corrections in the data processing. Until recently, relative calibrations, originally proposed by National Geodetic Survey of United States, were the international standard. However, in late 2006, International GNSS Service will switch to absolute calibration methods. In this study, we compared the position differences caused by different PCV models, and their effects on the calculations of Precipitable Water Vapor (PWV) in the atmosphere. Data from ${\sim}40$ permanent GPS stations in Korea were processed and we found that the vertical position differences reach up to 5 cm, depending on the model selected. Also the PWV values varied quite significantly: the maximum bias in the computed PWV values was ${\sim}4$ mm.

Among Solar activities' events, the geomagnetic storms are believed to cause the largest atmospheric effects. The geomagnetic storm is a complex process of solar wind/magnetospheric origin. It is well known to affect severely on the ionosphere. However, this effect of this complex process will maybe act at various altitudes in the atmosphere, even including the lower layer and the neutral middle atmosphere, particularly the stratosphere. Nowadays, the GPS-derived ZTD (zenith tropospheric delay) can be transformed into the precipitable water vapor (PWV) through a function relation, and further has been widely used in meteorology, especially in improving the precision of Numerical Weather Prediction (NWP) models. However, such geomagnetic effects on the atmosphere are ignored in GPS meteorology applications. In this paper, we will investigate the geomagnetic storms' effects on the middle atmosphere and troposphere (0-100km) by GPS observations and other data. It has found that geomagnetic storms' effect on the atmosphere also appears in the troposphere, but the mechanism to interpret correlations in the troposphere need be further studied.

KOMPSAT (KOrea Multi-Purpose SATellite)-5 for the earth observation and scientific research is scheduled to launch in 2009. The second payload, AOPOD (Atmosphere Occultation and Precision Orbit Determination) system, consists of a space-borne dual frequency GPS receiver and a laser retro reflector. GPS radio occultations from AOPOD system can be used to generate profiles of refractivity, temperature, pressure and water vapor in the neutral atmosphere with a high vertical resolution. Also the radio occultation in the ionosphere provides an inexpensive tool of vertical electron density profile. Currently, many LEO missions with GPS radio occultation receivers are on orbit and more GPS occultation missions are planed to launch in the near future. In this paper, we simulated radio occultation measurements from KOMPSAT-5 and retrieved atmospheric profiles using the simulated data.

In order to apply the network adjustment, the correct ambiguities between each of reference stations must be calculated. This paper focused on the comparison of ambiguity resolution between the reference stations. Three hours test data with different baseline length from 20 km to 60 km have been analyzed. The results show that the time-to-fix between 20 km and 40 km is typically under 1 minute. However, over 60km baseline, the time-to-fix performance degrades.

This paper proposes an ultrasonic location system based on the spread spectrum principle. Compared with the existing ultrasonic location systems, the proposed system combines the spread spectrum and amplitude modulation principles. As a result, the proposed ultrasonic location system is advantageous in that it can improve positioning accuracy and detection sensitivity by the spread spectrum principle, it simplifies transmitter and receiver circuits by the amplitude modulation, and it is easy to upgrade its performance by the software functionalities. The advantages and performance of the proposed location system are demonstrated by experiments.

For a long time the GSM and GPS world has been living side by side. There have been some half hearted attempts to invoke the GPS unit into GSM units but performance and usability has suffered. The A-GPS approach is interesting and we wanted to verify general performance for fleet application and alarm/emergency situations. The result is now promising but still more to enhancements are anticipated. We achieved near acceptable availability (${\sim}70%$) under indoor conditions. Accuracy was as anticipated (50-100 meter) as we are using reflected signals. Time to first fix is in general good in outdoor conditions but too long for indoor conditions (45-60 seconds). We would like manufactures to put some more effort to get better performance in the future as test with Nordnav high sensitivity measurement system proves that conditions indoor are at a level where better performance should be possible.

With the rapid development of spatial infrastructure in US, Europe, Japan, China and India, there is no doubt that the next generation Global Navigation Satellite System (GNSS) will improve the integrity, accuracy, reliability and availability of the position solution. GNSS is becoming an essential element of personal, commercial and public infrastructure and consequently part of our daily lives. However, the applicability of GPS in supporting a range of location-sensitive applications such as location based services in an urban environment is severely curtailed by the interference of the 3D urban settings. To characterize and gain in-depth understanding of such interferences and to be able to provide location-based optimization alternatives, a high-fidelity 3D urban model of Melbourne CBD built with ArcGIS and large scale high-resolution spatial data sets is used in this study to support a comprehensive simulation of current and future GNSS signal performance, in terms of signal continuity, availability, strength, geometry, positioning accuracy and reliability based on a number of scenarios. The design, structure and major components of the simulator are outlined. Useful time-stamped spatial patterns of the signal performance over the experimental urban area have been revealed which are valuable for supporting location based services applications, such as emergency responses, the optimization of wireless communication infrastructures and vehicle navigation services.

Integrity plays a fundamental role in the feasibility of 'liability critical' applications. Road charging, e.g. road tolling in urban zones or on highways, represents a series of liability critical applications where a guarantee in integrity could be a true enabler: being the mechanism that prevents the incorrect charging of users and enabling the advancement of these applications using GNSS such as Galileo and EGNOS that provide integrity mechanisms. However, the integrity of the end user position is not guaranteed by the EGNOS and Galileo integrity services alone as provided. Algorithms have been developed to supply a guarantee on the performance attainable at the user level through the provision of a horizontal protection level that responds to local user conditions such as multipath or interference. In addition, an application has been developed that implements road charging mechanisms based on the availability of user-level integrity. Results obtained show that the user-level integrity algorithms provided the required level of integrity guarantee and granularity of the horizontal protection levels necessary for executing urban and rural (highway) road charging. In addition, the road charging application developed shows that the current application domain requirements can be met through the provision of guaranteed integrity and that further reductions in the horizontal protection levels along with increased signal availability will enable future road charging modalities.

Many applications in the area of location-based services and personal navigation require nowadays the location determination of a user not only in outdoor environment but also indoor. To locate a person or object in a building, systems that use either infrared, ultrasonic or radio signals, and visible light for optical tracking have been developed. The use of WiFi for location determination has the advantage that no transmitters or receivers have to be installed in the building like in the case of infrared and ultrasonic based location systems. WiFi positioning technology adopts IEEE802.11x standard, by observing the radio signals from access points installed inside a building. These access points can be found nowadays in our daily environment, e.g. in many office buildings, public spaces and in urban areas. The principle of operation of location determination using WiFi signals is based on the measurement of the signal strengths to the surrounding available access points at a mobile terminal (e.g. PDA, notebook PC). An estimate of the location of the terminal is then obtained on the basis of these measurements and a signal propagation model inside the building. The signal propagation model can be obtained using simulations or with prior calibration measurements at known locations in an offline phase. The most common location determination approach is based on signal propagation patterns, namely WiFi fingerprinting. In this paper the underlying technology is briefly reviewed followed by an investigation of two WiFi positioning systems. Testing of the system is performed in two localization test beds, one at the Vienna University of Technology and the second at the Hong Kong Polytechnic University. First test showed that the trajectory of a moving user could be obtained with a standard deviation of about ${\pm}$ 3 m.

Presently, cycle-slip detection is done between adjacent two points in many cycle-slip methods. Inherently, it is simple wavelet analysis. A new idea is put forward that the number of difference point can adjust by a parameter factor; we study this method to smooth raw data and detect cycle-slip with wavelet analysis. Taking CHAMP satellite data for example, we get some significant conclusions. It is showed that it is valid to detect cycle-slip in GPS phase measurement based on this wavelet function, and it is helpful to improve the precision of GPS data pre-processing and positioning.

The paper proposes a condition that should be satisfied when using the combination with different carrier phase observations to get the high precision deformation value. If the condition is satisfied, on the basis of DC algorithm, when the deformation is relatively large (0.7m)，high precision deformation value can be obtained.

The geoidal undulations are needed for determining the orthometric heights from the Global Positioning System GPS-derived ellipsoidal heights. There are several methods for geoidal undulation determination. The paper presents a method employing a simple architecture Two Layer Multiquadric-Biharmonic Artificial Neural Network (TLMB-ANN) to approximate an area of 4200 square kilometres quasigeoid surface with GPS-levelling data. Hardy’s Multiquadric-Biharmonic functions is used as the hidden layer neurons’ activation function and Levenberg-Marquardt algorithm is used to train the artificial neural network. In numerical examples five surfaces were compared: the gravimetric geometry hybrid quasigeoid, Support Vector Machine (SVM) model, Hybrid Fuzzy Neural Network (HFNN) model, Traditional Three Layer Artificial Neural Network (ANN) with tanh activation function and TLMB-ANN surface approximation. The effectiveness of TLMB-ANN surface approximation depends on the number of control points. If the number of well-distributed control points is sufficiently large, the results are similar with those obtained by gravity and geometry hybrid method. Importantly, TLMB-ANN surface approximation model possesses good extrapolation performance with high precision.

The previous acquisition method of GPS receiver for reference station adopts not only the coherent integration method but also the non-coherent integration method in order to enhance sensitivity under noisy environment. However, under noisy environment, the previous GPS signal acquisition method causes the non-coherent integration loss which is a major factor among losses that can be caused during GPS signal acquisition. The non-coherent integration loss also increases with the strength of the received noise. This paper has intention of analyzing the performance of the GPS signal acquisition method proposed to effectively enhance sensitivity of DGPS reference receiver under noisy environment. This paper presents that the proposed GPS signal acquisition method suppresses the non-coherent integration loss through post-processing simulation. Furthermore, with regard to the mean acquisition time, it is shown that the number of search cells of the proposed GPS signal acquisition method is much fewer than that of the previous GPS signal acquisition method.

In order to fully utilize the inherent precision that GPS observables could offer, accurate estimation of dynamic and measurement parameters is vital. Among these parameters some are indispensable in virtually every form of GPS processing, while some are limitedly relevant to a particular application. In the context of time transfer by GPS, the transmission-related errors such as ionospheric and tropospheric delays, and the integer ambiguity of the carrier phase observables belong to the former, the atomic clock parameters and data batch-related parameters to the latter. Obviously the atomic clock parameters are of prime importance in GPS time transfer. In this study some of important parameters in conducting time transfer experiments by use of GPS were characterized and their effects on time transfer performance were investigated in detail

Modernized GNSS such as new GPS signals updated GLONASS and coming Galileo promises higher quality and higher reliability for users. Powerful technologies such as Internet, ubiquitous network technology and sensor network has been used to promote a safe and more secure lifestyle. This report describes experimental trials to combine these technologies namely GPS and Sensor Network into a high-performance system. GPS is used to enlarge the communication range, resolving the service area limitations, as a wider service area is required at shore areas compared to urban area. GPS position datum is also used as primary network routing information to get practical Sensor Network. Another application is the under water Sensor Network. Accurate GPS position and time are used to establish stable and high reliability underwater acoustic Sensor Network. This paper describes the background of the project 'Harbor area Marine Ubiquitous Sensor Network', preliminary consideration and testing. Radio and acoustic communication is the main focus of this preliminary experiment.

Japan has been investigating a new satellite based positioning system called Quasi-Zenith Satellite System (QZSS). Since the improvement of positioning availability in urban area is one of the most important advantages of the QZSS, multipath mitigation is a key factor for the QZSS positioning system. Therefore, Japan Aerospace Exploration Agency (JAXA) and GNSS Inc. have commenced the R&D of a pseudolite, which transmits the next-generation signal such as BOC(1,1), in order to evaluate the effect of multipath on the new signal. A prototype BOC pseudolite was developed in 2005, and ground tests showed a capability of generating proper pseudorange. Also, preliminary flight experiments using a pseudo quasi-zenith satellite, a helicopter on which the pseudolite is installed, were conducted in early 2006, and the BOC-type correlation function was monitored in real time.

Commercial uses of GPS have been growing rapidly with applications for aircraft, ship, and land vehicle navigation as well as for surveying and time keeping. The next generation GPS and Japanese QZS (Quasi Zenith Satellite) will provide three different civil signals. Galileo will also provide several types of civil signals. The availability of the third civil frequency has obvious advantages to instantaneous carrier phase accuracy and ambiguity resolution for centimeter level measurements. This paper discusses the effects of additional new civil signals for the high accuracy positioning in urban areas based on simulation using practical raw data. As for constellation, only GPS and GPS+QZS are considered. For positioning, a short distance baseline is assumed in order to disregard atmosphere effects. In this simulation, mask angle and signal conditions were fixed and ambiguity success rates were compared between different triple frequency combination scenarios. The coefficient of reflection was set randomly from 0.05 to 0.5 and the multipath delay was also set randomly from 5-100 m. Visible satellites and signal strength were determined by raw data collected in Tokyo by car. These simulation results have confirmed that the availability of high accuracy positioning will increase in all scenarios if we use GPS+QZS with triple frequencies.

The purpose of GPS structural vibration monitoring is to obtain information on the frequency and amplitude of vibrations based on GPS observations that are often affected by various errors. Filters are frequently used to improve GPS accuracy and to retrieve vibration signals from GPS observational series. This paper studies the performances of four commonly used filters, i.e., Vondrak, wavelet, adaptive FIR and Kalman filters, for such applications. Controlled experiments are carried out and the results show that the capability of GPS in tracking structural dynamics and complex signals can be improved with any of the filters. The performances of Vondrak and wavelet filters are almost the same and superior to the adaptive FIR and Kalman filters. Recommendations are given for the selection of filters and filter parameters for different situations based on an analysis of the advantages and disadvantages of each of the filters.

The goal of this paper is to analyze, through simulations and experiments, GNSS interference mitigation performance under various types of antenna structures against wideband and narrowband interferences using spatial-temporal adaptive signal processing (STAP) techniques. The STAP approach, which combines spatial and temporal processing, is a viable means of GNSS array signal processing that enhancing the desired signal quality and providing protection against interference. In this paper, we consider four types of 3D antenna array structure - Uniform Linear Array (ULA), Uniform Rectangular Array (URA), Uniform Circular Array (UCA), and the Single-Ring Cylindrical Array (SRCA) under an interference environment. Analytical evaluation and simulations are performed to investigate the system performance. This is followed by simulation GPS orbits in interfered environment are used to evaluate the STAP performance. Furthermore, experiments using a 2x2 URA hardware simulator data show that with the removal of wideband and narrowband interference through the STAP techniques, the signal tracking performance can be enhanced.

The fast moving technology generally left policy practitioners fumble in formulating their responses. The country like India on one hand marches ahead with the pace of technology at the same time the country also faces the policy that may be considered by many not conducive for the growth of the technology. The paper will detail the existing policy scenario the new mapping policy, the efforts regarding NSDI and the policies pertaining to GPS. The paper will attempt to assess the implications of the same on the growth of geomatics technology.

A major advantage of the area in and around Braunschweig is its concentration of major research institutes and small to large enterprises dealing with different modes of transportation. For many years, aviation has been a particular focus. The research institutes have aircraft and helicopters equipped especially for research projects, as well as other laboratory equipment, allowing simulation and testing of air traffic application both virtually and on real aircraft. In addition, with the Luftfahrtbundesamt (equivalent organization to FAA) and the Bundesstelle $f{\"{u}}r$ Flugunfalluntersuchung (equivalent to NTSB) both located at the Research Airport, it enables direct contact with two key air-traffic safety authorities. The institutes of DLR and the Technical University of Braunschweig are very active in rail transportation applications. Cooperation with the market leader in rail automation - Siemens Rail Automation, also located in Braunschweig - and with other companies in the Braunschweig region means that safety-critical road applications and mobility research is available due to the activities of a number of institutes. Cooperation with Volkswagen (VW) and other companies in the region ensure access to the market leaders' know-how in this sector. Current European activities within framework of the Galileo project offer particularly good opportunities for the Research Airport to leverage its expertise and position itself internationally as a specialist in safety-critical transport applications - the centre is an initiative of Niedersachsen and the Ministry of Economic Affairs, Labour and Transport Location and navigation plays a central role in all modes of transport - air, road and rail. The market is being revolutionized by the increasing integration of GNSS. The realization of the Galileo system will provide additional opportunities for the Research Airport: Galileo as a civil operated system offers service guarantees especially in the area of safety-critical applications in transportation. Notably standards, processes and authorizations related to the certification of safety-critical applications in the areas of air, road and rail transportation are still to be determined. GAUSS, located at the Research Airport Braunschweig, as an European centre of excellence for simulation, testing and certification of safety-critical applications can offer its expertise to validate the services guaranteed by the Galileo concessionaire.

This paper addresses the design of container liner shipping service networks by explicitly taking into account empty container repositioning and container fleet size. Two key and interrelated issues of deployments of ships and containers are usually treated separately by most existing studies on shipping network design. In this paper, both issues are considered simultaneously. The problem is formulated as a two-stage problem: the upper-problem being formulated as a Knapsack problem and the lower-problem as a Flow problem. A genetic algorithm based heuristic is developed for the problem. Through a number of numerical experiments that were conducted it was shown that the problem considering empty container repositioning provides a more insightful solution than the one without.

The appearance of over 10,000 TEU containerships (so called Mega-containerships) is determined. In order to operate these ships effectively, the number of these calling ports will diminish, and then feeder ships will transport cargoes from the hub-ports where mega-containerships call to the destination ports. In the hub-ports, handling containers for mega-containerships become huger, thus it is important for terminals to deal with cargo handling as soon as possible. However, the present terminal layout might have the limitation of maximum throughput per time unit. And then the transit time at the ports become longer. Therefore, we investigate the effect on some different terminal layouts with new alternatives. Actually, we discuss the ship-to-berth allocation at some adjacent berths for mega-containerships on three types of terminal layouts. First one is the conventional type consisted by some linear berths, most container terminals in the world are normally this type. Second one is the indented type consisted by linear berths and indented berths which we can handle from both sides of mega-containership simultaneously. Third one is the floating type consisted by linear berths and the floating berth. On this type, mega-containerships can moor between linear and floating berths. The merits of this type are that we can also handle from both sides of mega-containerships simultaneously, and ships can go through between linear berth and floating berths. Thus it is easier for ships to moor and leave berths. Under such assumptions, we examine the numerical experiments. In most cases, the total service times on the indented type are the longest among three types, these on the floating type are the next longer. Those reasons are that these layouts have the differences of berth occupancy obtained by the time and space axes, and whether the precedence constraints of ship service order needs or not.

From the viewpoint of coastal hydrodynamics, one of the most important effects of global warming is a sea-level rise in coastal areas. In the present study, impacts on port facilities against sea-level rise were investigated. The sea-level rise causes the increase of the water depth, and it generates variations on the wave height, buoyancy, tidal system and nearshore current system and so on. The increase of water depth gives rise to the decrease of crown height of the structure and it causes increase of wave overtopping quantity. It may flood the port zone and its facilities, and may decrease harbor tranquility. It also leads to difficulties on navigation, mooring and loading/unloading at the port. Increase in water depth also causes increase of wave height in surf zone. This high wave makes structures unstable and may cause them to collapse during storm. In addition, increase in buoyant force due to sea-level rise also makes the gravity type structures unstable. Consequently, theses variations due to sea-level rise will cause functional deterioration of port facilities. In order to protect port facilities from the functional deterioration, reinforcement plan is required such as raising the crown height and increase in block weight and so on. Hence proper estimation method for the protection cost is necessary in order to protect port facilities efficiently. Moreover response strategies and integrated coastal zone management plan is required to maintain the function of port facilities. A simple estimation of cost for breakwaters in Korea was performed in the present study.

Knowledge of the ionospheric peak parameter foF2 (the critical frequency of F2 layer) is one of key essential factors for predicting ionospheric characteristics and delay correction of satellite positioning. However, the foF2 was almost estimated using an empirical model of International Reference Ionosphere (IRI) or other expensive observing techniques, such as ionosondes and scatter radar. In this paper, the ionospheric peak parameter foF2 is the first observed by ground-based GPS with all weather, low-cost and near real time properties. Compared with the IRI-2001 and independent ionosondes at or near the GPS receiver stations, the foF2 obtained from ground-based GPS is in better agreement, but closer to the ionosonde. However, during nighttime, the IRI model overestimated the GPS observed values during winter and equinox months.Furthermore, seasonal variation trend of the foF2 in 2003 is studied using foF2 monthly median hourly data measured over South Korea. It has shown that the systematic diurnal changes of foF2 are apparent in each season and the higher values of foF2 are observed during the equinoxes (semiannual anomaly) as well as in mid-daytime of each season.

The correct estimation of the ionospheric delays is very important for the precise kinematic positioning especially in case of the long baseline. In case of triple frequency system, the ionospheric delays can be estimated from the measurements, but, in case of dual frequency system, the situation is not so simple. The precision of those supplied by the external information source such as IONEX is not sufficient. The high frequency component is neglected, and the precision of the low frequency component is not sufficient for the long baseline positioning. On the other hand, the high frequency component can be estimated from the phase range measurements. If the low frequency components are estimated by using the external information source or pseudo range measurements, a more reasonable estimation of the ionospheric delays may be possible. It has already been discussed by the author that the estimation of the low frequency components by using the external information source is not sufficient but fairly effective. The estimation using the pseudo range measurements is discussed in the present paper. The accuracy is not sufficient at present because of the errors in the pseudo range measurements. It is clarified that the bias errors in the pseudo range measurements are responsible for the poor accuracy of the ionospheric delays. However, if the accuracy of the pseudo range measurements is improved in future, the method would become very promising.

The ionospheric strom evolution process was monitored during the 18 August 2003 magnetic strom over China, through inversion of the ionospheric electron density from GPS observations. The temporal and spatial variations of the ionosphere were analysed as a time series of ionospheric electron density profiles. Results show that the main ionospheric effects of the storm over China under consideration are: the positive storm phase effect usually happens in the low latitudinal ionospheric; the negative storm phase effect occurs in the middle latitude, and the equatorial anomaly structure can be found as well.

One of the major sources of error in precise GPS positioning since the turn-off the Selective Availability(SA) is the ionospheric propagation delay. For the last decades, a lot of the ionospheric researches based on a GPS network have been implemented throughout the world. Especially researches of the ionospheric modeling for Wide Area Argumentation System(WAAS) have been undertaken and published. In mid-latitude regions, typical spatial and temporal variations in ionospheric models delay tend to minimal. The developed ionospheric model calls for a 1.25 degree grid at latitudes and a 2.5 degree grid at longitudes. The precise grid TEC estimated by the inversion technique is also compared with global ionosphere maps(GIMs) which have been provided by several analysis centers(ACs). The results of initial investigations into the suitability of the proposed ionospheric modeling scheme in north-east Asia are presented.

One of the major sources of error in precise GPS positioning since the turn-off the Selective Availability(SA) is the ionospheric propagation delay. For the last decades, a lot of the ionospheric researches based on a GPS network have been implemented throughout the world. Especially researches of the ionospheric modeling for Wide Area Argumentation System(WAAS) have been undertaken and published. In mid-latitude regions, typical spatial and temporal variations in ionospheric models delay tend to minimal. The developed ionospheric model calls for a 1.25 degree grid at latitudes and a 2.5 degree grid at longitudes. The precise grid TEC estimated by the inversion technique is also compared with global ionosphere maps(GIMs) which have been provided by several analysis centers(ACs). The results of initial investigations into the suitability of the proposed ionospheric modeling scheme in north-east Asia are presented.

The main research conducted previously on GPS ionosphere in China is first introduced. Besides, the current investigations include as follows: (1) GPS-based spatial environmental, especially the ionosphere, monitoring, modeling and analysis, including ground/space-based GPS ionosphere electron density (IED) through occultation/tomography technologies with GPS data from global/regional network, development of a GNSS-based platform for imaging ionosphere and atmosphere (GPFIIA), and preliminary test results through performing the first 3D imaging for the IED over China, (2) The atmospheric and ionospheric modeling for GPS-based surveying, navigation and orbit determination, involving high precisely ionospheric TEC modeling for phase-based long/median range network RTK system for achieving CM-level real time positioning, next generation GNSS broadcast ionospheric time-delay algorithm required for higher correction accuracy, and orbit determination for Low-Earth-orbiter satellites using single frequency GPS receivers, and (3) Research products in applications for national significant projects: GPS-based ionospheric effects modeling for precise positioning and orbit determination applied to China's manned space-engineering, including spatial robot navigation and control and international space station intersection and docking required for related national significant projects.

In this paper, design and applications of a generalized, versatile and customizable IF signal generator that can model the modernized GPS and Galileo signal is given. It generates IF sampled data that can be directly used by a software receiver. Entire constellation of satellites which is independent of satellite-user geometry is easily determined using a real or simulated ephemeris data. Since the IF center frequency, sampling frequency and quantization bit number are user location dependent parameters, their effects are also considered in IF signal generator. The generalized IF signal generator will be very well suited for the development phase of a software receiver due to its versatility. The full access to the sampling frequency, front-end filter definition and ADC parameters also offers a great opportunity for cost-effective analysis of tracking loops and error mitigation techniques at the receiver level. Interference sources can be easily added to the generator to simulate specific environments. This software IF signal generator can also be used to feed a multi-frequency multi-system software receiver for the prototyping of a combined GPS/Galileo receiver. The test result using the generated signals and a real software receiver shows the effectiveness of the implemented IF signal generator.

To find a location, GPS has been wildly used. But, it is hard to use in indoor because of very weak signal level. To meet indoor requirements, there have been many studies applying wireless communication networks such as WLAN, UWB and ZigBee. Among these, ZigBee is widely adopted in many WSN applications because it has an advantage of low-power and low-cost. In ZigBee, the RSSI is used as range measurement for ad-hoc network. The RSSI are converted to ranges using the signal attenuation model and these ranges become inputs of positioning methods. The obtained position with RSSI has large error because of its poor accuracy. To overcome this problem, ultrasonic sensors are added in many researches. By measuring the arrival time difference of ZigBee and ultrasound as a range measurement, the precise position can be found. However, there are still many problems: scheduling of beacons to transmit signals in a correct order, addition and synchronization of beacons and low-rate positioning rate. At this paper, an efficient method to solve these problems is proposed. In the proposed method, a node transmits ZigBee and ultrasound signal simultaneously. And beacons find the range with the received signals and send it back to a node with ZigBee. The position is computed in a node with the received ranges. In addition, a new positioning algorithm to solve the risk of the divergence in the linearization method and the singularity problem in the Savarese method is presented. Both static and dynamic experimental results show 0.02m RMS errors with high output rate.

The main purpose of this paper is to describe the code tracking performance of a non-coherent digital delay lock loop (DLL) or coherent DLL while tracking GNSS signal in the presence of signal masking. The masking effect is usually caused by buildings that obscure the signal in either a periodic or random manner. In some cases, ideal masking is used to remove random or periodic interference. Three types of the masked signal are considered - no masking, periodic masking, and random masking of the signal input to the receiver. The mean time to lose lock (MTLL) of the code tracking loop are evaluated, and some numerical result and simulation results are reported. Finally, the steadystate tracking errors on the performance of the tracking loop in interference environment are also presented.

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.

Ionospheric scintillation induces a rapid change in the amplitude and phase of radio wave signals. This is due to irregularities of electron density in the F-region of the ionosphere. It reduces the accuracy of both pseudorange and carrier phase measurements in GPS/satellite based Augmentation system (SBAS) receivers, and can cause loss of lock on the satellite signal. Scintillation is not as strong at mid-latitude regions such that positioning is not affected as much. Severe effects of scintillation occur mainly in a band approximately 20 degrees on either side of the magnetic equator and sometimes in the polar and auroral regions. Most scintillation occurs for a few hours after sunset during the peak years of the solar cycle. This paper focuses on estimation of the effects of ionospheric scintillation on GPS and SBAS signals using a software receiver. Software receivers have the advantage of flexibility over conventional receivers in examining performance. PC based receivers are especially effective in studying errors such as multipath and ionospheric scintillation. This is because it is possible to analyze IF signal data stored in host PC by the various processing algorithms. A L1 C/A software GPS receiver was developed consisting of a RF front-end module and a signal processing program on the PC. The RF front-end module consists of a down converter and a general purpose device for acquiring data. The signal processing program written in MATLAB implements signal acquisition, tracking, and pseudorange measurements. The receiver achieves standalone positioning with accuracy between 5 and 10 meters in 2drms. Typical phase locked loop (PLL) designs of GPS/SBAS receivers enable them to handle moderate amounts of scintillation. So the effects of ionospheric scintillation was estimated on the performance of GPS L1 C/A and SBAS receivers in terms of degradation of PLL accuracy considering the effect of various noise sources such as thermal noise jitter, ionospheric phase jitter and dynamic stress error.

This study investigates the improvement in the theoretical success rate of the integer ambiguity resolution in GPS/GNSS carrier-phase positioning by using many visible satellites. It estimates the dependence of the rate on the baseline length in relative positioning under the condition of the use of double/triple-frequency navigation signals. The calculation results show that the use of 14 navigation satellites (i.e., seven GPS and seven Galileo ones) remarkably improves the success rate under the condition of very short baseline length, compared with the use of seven GPS ones. The numerical reliability of the calculated success rates is strictly tested by examining the tightness of the union and minimum-distance bounds to the rate. These bounds are also shown to be effective to investigate the realization of the high success rates.

Based on the possibility theory and the fuzzy set, the Maximum Possibility Estimation method and its applications in kinematic GPS positioning are presented in this paper. Firstly, the principle and the optimal criterion of the Maximum Possibility Estimation method are explained. Secondly, the kinematic GPS positioning model of single epoch single frequency with baseline length constraint is developed. Then, the authors introduce the artificial immune algorithm and use this algorithm to search the global optimum of the Maximum Possibility Estimation model. The results of some examples show that the method is efficient for kinematic GPS positioning.

A precise real-time method of using the IGS ultra rapid products (IGU) and the GPS broadcast ephemeris to calculate the VRS orbit corrections was presented here which was suited for GPS/VRS reference station network based positioning. Test data acquired from both the SGRSN (Sichuan GPS Reference Station Network) and SCIGN (Southern California integrated GPS network) were used to evaluate the performance of the modeling techniques. The new method was proven to be more precise and reliable compared with the existing conventional network-based orbit error interpolation method. It was shown that 0.004ppm relative accuracy was reached, namely the influence from the orbit bias for the RTK positioning within 100km area can be of sub-millimeter level.

Safety-critical navigation systems have to provide 'reliable' position solutions, i.e., they must detect and exclude measurement or system faults and estimate the uncertainty of the solution. To obtain more accurate and reliable navigation systems, various filtering methods have been employed to reduce measurement noise level, or integrate sensors, such as global navigation satellite system/inertial navigation system (GNSS/INS) integration. Recently, particle filters have attracted attention, because they can deal with nonlinear/non-Gaussian systems. In most GNSS applications, the GNSS measurement noise is assumed to follow a Gaussian distribution, but this is not true. Therefore, we have proposed a fault detection and exclusion method using particle filters assuming non-Gaussian measurement noise. The performance of our method was contrasted with that of conventional Kalman filter methods with an assumed Gaussian noise. Since the Kalman filters presume that measurement noise follows a Gaussian distribution, they used an overbounded standard deviation to represent the measurement noise distribution, and since the overbound standard deviations were too conservative compared to the actual distributions, this degraded the integrity-monitoring performance of the filters. A simulation was performed to show the improvement in performance of our proposed particle filter method by not using the sigma overbounding. The results show that our method could detect smaller measurement biases and reduced the protection level by 30% versus the Kalman filter method based on an overbound sigma, which motivates us to use an actual noise model instead of the overbounding or improve the overbounding methods.

A number of different techniques are available to mitigate the problem of cross correlations caused by the limited dynamic range of the 10-bit Gold codes in the GPS C/A code. These techniques include successive-interference cancellation (SIC) and parallel-interference cancellation (PIC), where the strong signals are subtracted at IF prior to attempting to detect the weak signals. In this paper, a variation of these techniques is proposed whereby the subtraction process is delayed until after the correlation process, although still employing a pure reconstructed C/A code signal to permit prediction of the cross correlation process. The paper provides details on the method as well as showing the results obtained when the method was implemented using a software GPS receiver. The benefits of this approach are also described, as is the application of the method to the cancellation of CW interference.

The International GNSS Service (IGS) has managed the global GNSS network and provided the highest quality GNSS data and products, which are GPS ephemerides, clock information and Earth orientation parameter, as the standard for GNSS. An important part of its works is to provide the precise orbits of GPS satellites. GPS satellites send their orbit information (broadcast ephemerides) to users and their accuracies are approximately 1.6 meters level, but those accuracies are not sufficient for the high precise applications which require millimeters precision. The current accuracies of the IGS final orbits are within 5 centimeters level and they are used for Earth science, meteorology, space science, and they are made by the IGS analysis centers and combined by the IGS analysis center coordinator. The techniques making the products are very difficult and require the high technology. The Korea Astronomy and Space Science Institute (KASI) studies to make the IGS products. In this study, we developed our own processing strategy and made GPS ephemerides using Bernese GPS software Ver. 5.0. We used the broadcast ephemerides as the initial orbits and processed the globally distributed 150 IGS stations. The result shows about 6 to 8 centimeters in root-mean-squares related to IGS final orbits in each day during a week. We expect that this study can contribute to secure our own high technology.

In order to use a GPS antenna for launch vehicles, it should be installed on the skin of the vehicle and be able to normally receive the live GPS signals during the vehicle's full flight mission. The GPS antenna on the surface of the launch vehicle is, however, exposed to higher temperature than inner equipments of the vehicle due to aerodynamic heating generated during the flight. Test specification of the GPS antenna for qualification of hot-temperature is determined to $+95^{\circ}C$ that is higher than inner components by $25^{\circ}C$. Test results in this paper show that the GPS antenna normally operates under the above environment.

The GPS receiver developed by KARI for the satellite launch vehicle should operate under severe dynamic environments such as high acceleration and jerk. Several terrestrial tests including the outdoor centrifuge test are planed in order to verify performances of the GPS receiver before flight. This paper deals with preliminary test results of the GPS receiver using a GPS signal generator before the centrifuge test that is a performance test of the GPS receiver using live GPS satellite signals. Test methods of the GPS receiver for the satellite launch vehicle under high centripetal acceleration and jerk utilizing a GPS signal generator are described. The simulation results are also analyzed in this paper.

In this paper, a design and implementation of GPS/Galileo software receiver is given. As a GPS receiver, it is able to perform every function of receiver such as acquisition, code and carrier tracking, navigation bit extraction, navigation data decoding, pseudorange calculations, and position calculations. A method to acquire and track the Galileo BOC(1,1) signal is also required because the correlation of BOC(1,1) signal has multiple peaks different from that of GPS signal. Therefore, a method to detect the main-peak in correlation function of BOC signal is required to avoid false acquisition. In this paper, very-early, very late correlation is implemented to track the correct main peak. The performance of implemented GPS/Galileo software receiver with BOC(1,1) signal tracking feature is evaluated with GPS/Galileo IF signal generator.

As GPS equipments improve, one can acquire GPS data easily in the field. However, to obtain precise and accurate coordinates, post processing is additionally required and the processing needs high degree of skills. Besides, it is very common that we can't operate processing software in the field because required system environment is usually not prepared. The aim of this study is the development of internet-based GPS data processing service. For post processing, we use GIPSY developed by JPL. It has many advantages such as precise point positioning, which enables a rapid determination of receiver positions. The developed service in this study proceeds as following orders by interlocking GIPSY and internet service on a Linux platform: Users upload raw data files on the internet, then GIPSY runs automatically and then the user get the result in the field. We use an Apache Web Server as a hosting program and PHP is used in coding web pages.

There are more than thirty continuously recording GPS stations (CORS) have been set up at different geological sites and distributed throughout a 140 km by 140 km area in southern Taiwan beginning since 2000, and the amount of the CORS are still under increasing in this area which is recognized the suture zone between the Philippe sea plate and Eurasia plate. From the year 2000 to the end of 2005, we analyze the daily solutions to obtain the average station velocities before and after the Chengkung earthquake which occurred near eastern Taiwan at 04:38 UTC on 10 December 2003. After considering the effects of the coseismic and postseismic displacements, the difference of the horizontal components reaches 13 mm/year of the average station velocity happened in the east side of the Central Range. To the vertical component, all of the stations are risen which located in the Coastal Range, and the largest difference approaches 20mm/year.

A roll rate estimation method is proposed using the GPS measurement for spinning vehicles such as guided munitions and smart bombs. Before designing the roll rate estimator, the carrier phase and the carrier frequency deviation caused by spinning have been observed. Based on the observation, the spinning frequency is estimated using I and Q value from the correlator. The proposed method is evaluated through computer simulations using a software defined receiver and a GPS IF signal generator.

In this paper, we design a prototype service in Telematics environment for providing safety warning notification at crooked roads efficiently using wireless sensor network. Through this study, we 1) analyze several requirements to be satisfied in the services, 2) design and implement the service architecture based on the requirements.

Precision location and positioning of Asset within a network is an attractive feature with various applications, especially in indoor environments. Such a demand is met by the standard task group, IEEE 802.15.4a. Several methods, that is, pulse, chirp and chaotic communications have been proposed so far to satisfy the requirements of the standard. Among them, ultra wideband direct chaotic communications has advantageous features such as low hardware complexity, low cost, lower power consumption and flexible frequency band plan. In this paper, the feasibility of the ranging system using non-coherent chaotic transceiver is investigated by designing and implementing the system and the performance is proved by conducting location experiments in real indoor environments.

Ships and their cargos have been managed safely by positioning report system. However, little attention has been paid to safety of crew's works with danger. The attempt that used PHS inboard was before by the present authors. However, the functions were just voice call and mail exchange. The data acquisition from the terminal by proper control was not possible. Thus the position of the terminal was not available. As for the cell phone of next generation, GPS receiver and wireless LAN are installed by manufacturers. Therefore, we propose a system which uses a cell-phone with GPS receiver on a ship in order to promote the safety of ship's crew. We checked the availability of cell-phone GPS receiver at thirty different points inboard. The positioning was not possible in the areas further than 4m from the window. Then, we proposed the system which follows the positions of the crews and confirms their safety inboard by using the VoIP (Voice over Internet Protocol) function by wireless LAN.

LMTT(Linear Motor based Transfer Technology) is a new type of transfer system used in the maritime container terminal for the port automation, and largely consists of a controller, shuttle car, and rail. The shuttle car is divided into the frame part, the driving part, and wheels. In order to design this system, various researches on each part of it must be conducted. In this study, we dealt with the optimum design for the mover of the shuttle car designed from previous studies on the strength of the frame with respect to the number of cross beams to minimize the weight of the shuttle car and to satisfy design criteria of cargo-handling systems in container terminal. For the optimization of the mover, thicknesses of each beam were adopted as design variables, the weight of the frame as objective function, and stress and deflection per unit length as constraint condition.

This study analyzed the fluid state around a container crane according to a wind direction when a wind load was applied to a container crane. The container crane for this research is a model of a 50-ton class used broadly in the current ports. The dimension of an external fluid field is $500m{\times}200m$. This study considered the change of a wind velocity according to an altitude in a criterion of a wind velocity, 50m/s, applying a power series law. An incident angle applied to an interval of 30 degrees in $0^{\circ}C$ ${\sim}$ $180^{\circ}C$ and this study carried out a computation fluid dynamics using a CFX 10. In this study, we indicate the wind pressure and coefficient according to the height and section figure of each member. In addition, we suggest the wind load according to a wind direction.

Rail clamps are mechanical components installed to fix the container crane to its bottoms from wind blast or slip. Rail clamps should be designed to survive the harsh wind loading condition. In this study, the jaw structure that is one part of wedge-typed rail clamp is optimized, considering strength under the severe wind loading condition. According to the classification of structural optimization, the structural optimization of a jaw belongs to shape optimization. In the conventional structural optimization methods, they have difficulties in defining complex shape design variables and preventing mesh distortions. To overcome the difficulties, the metamodel using kriging interpolation method is introduced, replacing true response by approximate one. This research presents the shape optimization of a jaw using iterative kriging interpolation models and simulated annealing algorithm. The new kriging models are iteratively constructed by refining the former kriging models. This process is continued until the convergence criteria are satisfied. The optimum results obtained by the suggested method are compared with those obtained by the DOE (design of experiments) and VT (variation technology) methods built in ANSYS WORKBENCH.

This report introduces a National Vessel Monitoring System(NVMS) within the General Information Center On Maritime Safety and Security(GICOMS) project and a national legislation system for ship's safety management in Korea. We also represent future directions of NVMS in terms of E-Navigation(E-Nav), which is the new study item for COMSAR and NAV that has been adopted from the Maritime Safety Committee(MSC) 81st session. It concludes the future E-Nav system, when it is built, that all functions of NVMS should be used by NVMS controllers as well as mariners, and we should also consider the existing NVMS infrastructure including S/W and H/W.

The GPS is widely used in various parts, therefore it is required higher integrity and continuity. These integrity and continuity are threatened by outer jamming signals which are intended or not. And various anti-jamming ways have been studied to remove these jamming signals. In this paper, we are going to test the efficiency of the anti-jamming algorithm in space and time-space domain, and analyze

Narrowband interference can severely degrade the performance of GPS receivers. Detecting the presence of interference and then characterizing it can lead to its removal. Receivers can be reconfigured to focus on other signals or satellites that are less vulnerable to that interference at that moment. Using hardware reconfigurability of FPGA receivers and characterizing the effect of narrowband interference on the GNSS signal quality lead us to a new RFI mitigation technique in which the highest quality and less vulnerable signal can be chosen at each moment. In the previous work [1], the post processing capability of a software GPS receiver, has been used to detect and characterize the CW interference. This is achieved by passing the GPS signal and the interference through the correlator. Then, using the conventional definition of C/No as the squared mean of the correlator output divided by its variance, the actual C/No for each satellite is calculated. In this work, first the 'Exclusion zone' for each satellite signal has been defined and then by using some experiments the effects of different parameters like signal power, jamming power and the environmental noise power on the Exclusion zone have been analyzed. By monitoring the Doppler frequency of each satellite and using the actual C/No of each satellite using the traditional definition of C/No and actual data from a software GPS receiver, the decision to reconfigure the receiver to other signal can be made.

One-sided and two-sided ATF for GNSS receiver are deigned, implemented and evaluated in this paper. The difference f filter characteristics such as the location of zeros and the frequency response is reviewed and examined with experiments. NLMS adaptation algorithm is adopted for updating the weighting coefficients of the 12-tap FIR filter. he performance of ATF is evaluated using real signals consisting of the signals from GPS simulator and the signal generator. The output of ATF is fed into the SDR to evaluate SNR and the position accuracy. The complexity of implementation is also compared and the effects of the time delay and the phase delay are examined. The experimental results show that one-sided and two-sided ATF give similar performance against single tone CWI.

Interference can seriously degrade the performance of GPS receiver because GPS signal has extremely low power at earth surface. This paper presents a Narrowband Interference Excision Filter (NIEF) in frequency domain that removes narrowband interferences with small signal loss. A NIEF transforms the received GPS signals with interferences into the frequency domain with FFT and then compute statistics such as mean and standard deviation to determine an excision threshold. All spectrums exceeding the threshold are removed and the remaining spectrums are restored by IFFT. A NIEF effectively can remove various and strong interferences with a simple structure. However, the signal power loss is unavoidable during FFT and IFFT. Besides the hamming window and overlap technique, a threshold-whitening technique and an adaptive detection threshold are adopted to effectively reduce the signal power loss. The performance of implemented NIEF is evaluated using real signals obtained by 12 bit GPS signal acquisition board. The output of NIEF is fed into the Software Defined Receiver to evaluate the acquisition and tracking performance. Experimental results shows that many types of interference such as single-tone CWI, AM, FM, swept CWI and multi-tones CWI are effectively mitigated with small signal power loss.

The revision of SOLAS, Chapter V, which entered into force on 1 July 2002, has firmly established the electronic navigational chart as part of the international maritime safety system. Its possible recognition as a paper chart equivalent confirms the considerable safety benefits provided by the official Electronic Chart Display and Information Systems (ECDIS). Elaborated by the Author IAMU Model Course on operational use of ECDIS aims to provide answers to some of the most commonly asked questions regarding various types of electronic charts (ENC, RNC, DNC) and electronic chart systems (ECDIS, RCDS, ECS). Following the earlier adoption of the International Convention STCW 78/95 and IMO model training courses, e.g. IMO Model Course on ECDIS [2], to assist in the implementation of the Convention and the associated IMO Assembly resolutions, a number of IAMU Member Universities had suggested that IAMU should develop model training courses on higher academic level to assist in achieving a more rapid transfer of information and skills regarding new developments in marine technology. The provision of model courses could help instructors improve the quality of their existing courses and enhance their effectiveness in meeting the requirements of the IAMU. In this paper the Author presents the results of two IAMU research projects sponsored by Nippon Foundation, titled 'IAMU Model Course on Training in Operational Use of ECDIS' and 'IAMU Handbook on ECDIS'.

Marine officers should have crisis control ability because ship operation needs not only highly specialized information, but also functional capability due to the fact that there always exist dangers at sea, which are different from those at shore. Therefore, marine officers should be trained on the related specialized information under the systematical educational system including shipboard training. Their training is also based on the strong spiritual power and physical strength through the strict training process. In order to have these vocational personalities, dormitory life training and shipboard training courses seem to be essential processes, which are required of maritime education. The introduction of automatic system into the ship as a result of the recent development of technology brings decrease of the full number of crew. Consequently, marine officers are increasingly under heavy burden, and should have more ship operation capabilities than before. Maine officers should have not only specialized information which differs from that at shore, but also vocational adaptability which can reasonably tackle with all the problems which exist on the spot and are obstacles to individual, spiritual, physical, natural, and social demands. So it is required that marine officers should have study many areas to deal with as extra curricula besides their major field of study, which are unique characteristics of the education for them. These vocational adaptabilities are based on the spiritual characteristics, such as self-developmental education, responsibility, meticulous care, attentiveness, voluntary, planning, readiness, spontaneity, accuracy, self-denial, obedience, leadership, and etc.

This paper identifies GNSS education and training program under Geomatic field of study. GNSS education programs is evaluated $vis-{\grave{a}}-vis$ new-products. Data on Geomatic knowledge generation in the era of the GNSS derivatives over the 1975 - 2003 period are examined. The emerging trends and patterns; in particular for selected Asian nations will be dissected in detail. The knowledge indicator used in this study is the patent ownership against the background of emergence of new core technologies and innovations in the field of GNSS. Looking at the dismal performance of Geomatic professionals in terms of innovative activities in most part of Asian and Malaysia in particular, is it there is something that holding up these professionals from doing so? With our universities and numerous polytechnics offering Geomatic program, more is expected from them. Is it a problem of lack or inadequacy of skills? Or is it these professionals are too busy and being narrowly focused on doing something else?

This paper examines the sampling and jitter specifications and considerations for Global Navigation Satellite Systems (GNSS) software receivers. Software radio (SWR) technologies are being used in the implementation of communication receivers in general and GNSS receivers in particular. With the advent of new GPS signals, and a range of new Galileo and GLONASS signals soon becoming available, GNSS is an application where SWR and software-defined radio (SDR) are likely to have an impact. The sampling process is critical for SWR receivers, where it occurs as close to the antenna as possible. One way to achieve this is by BandPass Sampling (BPS), which is an undersampling technique that exploits aliasing to perform downconversion. BPS enables removal of the IF stage in the radio receiver. The sampling frequency is a very important factor since it influences both receiver performance and implementation efficiency. However, the design of BPS can result in degradation of Signal-to-Noise Ratio (SNR) due to the out-of-band noise being aliased. Important to the specification of both the ADC and its clocking Phase- Locked Loop (PLL) is jitter. Contributing to the system jitter are the aperture jitter of the sample-and-hold switch at the input of ADC and the sampling-clock jitter. Aperture jitter effects have usually been modeled as additive noise, based on a sinusoidal input signal, and limits the achievable Signal-to-Noise Ratio (SNR). Jitter in the sampled signal has several sources: phase noise in the Voltage-Controlled Oscillator (VCO) within the sampling PLL, jitter introduced by variations in the period of the frequency divider used in the sampling PLL and cross-talk from the lock line running parallel to signal lines. Jitter in the sampling process directly acts to degrade the noise floor and selectivity of receiver. Choosing an appropriate VCO for a SWR system is not as simple as finding one with right oscillator frequency. Similarly, it is important to specify the right jitter performance for the ADC. In this paper, the allowable sampling frequencies are calculated and analyzed for the multiple frequency BPS software radio GNSS receivers. The SNR degradation due to jitter in a BPSK system is calculated and required jitter standard deviation allowable for each GNSS band of interest is evaluated. Furthermore, in this paper we have investigated the sources of jitter and a basic jitter budget is calculated that could assist in the design of multiple frequency SWR GNSS receivers. We examine different ADCs and PLLs available in the market and compare known performance with the calculated budget. The results obtained are therefore directly applicable to SWR GNSS receiver design.

The paper deals with the experimental GNSS receiver built at the Czech Technical University for experiments with the real GNSS signal. The receiver is based on software defined radio architecture. Receiver consists of the RF front end and a digital processor based on programmable logic. Receiver RF front end supports GPS L1, L2, L5, WAAS/EGNOS, GALILEO L1, E5A, E5B signals as well as GLONASS L1 and L2 signals. The digital processor is based on Field Programmable Gate Array (FPGA) which supports embedded processor. The receiver is used for various experiments with the GNSS signals like GPS L1/EGNOS receiver, GLONASS receiver and investigation of the EGNOS signal availability for a land mobile user. On the base of experimental GNSS receiver the GPS L1, L2, EGNOS receiver for railway application was designed. The experimental receiver is also used in GNSS monitoring station, which is independent monitoring facility providing also raw monitoring data of the GPS, EGNOS and Galileo systems via internet.

In this paper, for implementing a real-time software GNSS receiver we propose the highly efficient and fast algorithms such as partial down-conversion, phase rotator, composite I&Q accumulation, Virtual DCO technique, and parallel acquisition using FFT. When the proposed algorithms are used, more 30 tracking channels with 3 tracking arm(early-prompt-late) is operated real-time on Intel 2.8GHz personal computer. Also, the partial down-conversion reduces the FFT size, for parallel acquisition, to 1/8 of conventional FFT-size and the program size includes map is not exceed 1Mbyte. Finally, the proposed real-time software GNSS receiver using the proposed algorithms provides the navigation solution with below 10 meter rms error.

Software-based GNSS receivers have the great advantage in flexibility compared with conventional receivers. But it has some problems to processing IF level Signal RAW data, need long time to process long term data and TTFF is long because the process is too slow. So this time, we concentrated on the signal acquisition, and examined the speedup technique. Using this technique, the acquisition was speedup dramatically, and signal-to-noise ratio was improved.

Future GNSS signal using BOC modulation brings the advantages of positioning accuracy and multipath rejection. However, the BOC signal has an ambiguous autocorrelation function that complicates the process of acquisition. Three techniques that solve the ambiguous problem are BPSK-like, Sub Carrier Phase Cancellation, and Bump Jumping. In this paper, these methods are implemented by means of a DSP/FPGA board. Moreover, an experiment is conducted to examine and compare the performance of these techniques.

본 논문은 다양한 GPS 재밍대응 기술 중에서 안테나 기반의 CRPA(Controlled Reception Pattern Antenna) 시스템에 관한 소개 및 안테나의 널(null) 패턴 합성에 필요한 핵심 모듈인 디지털 I/Q 벡터모듈레이터(Vector Modulator)를 이용한 GPS용 $2{\times}2$ CRPA 패턴 제어방법에 관한 연구 내용이다. 일반적으로 시스템에서 미리 결정된 방향으로 만들어진 안테나 빔을 이용한 위상배열안테나(phased array antenna)와는 달리 CRPA 구조의 GPS 위성수신용 적응배열안테나(adaptive array antenna)는 각 안테나 소자(element)로부터 수신된 신호들을 실시간으로 해석하여, GPS 배열 안테나의 패턴 특성을 제어한다. 본 연구에서는 $2{\times}2$ 배열 정사각(square) 구조의 CRPA를 채택했으며, 재밍신호 방향으로 널(null) 패턴을 합성하기 위한 방법으로 PC에서 제어 가능한 DAC(Digital to Analog Converter)을 이용하여 I/Q 벡터모듈레이터로 인가되는 RF신호의 위상(phase) 및 진폭(amplitude)을 조절한다. 이때 원하는 널(null) 패턴이 합성되도록 네 개의 각 안테나 소자 쪽으로 8채널의 복소가중치(complex weight)를 인가한다.

적응 횡단 필터는 상관 전 처리 기법으로서 실시간 간섭 신호 제거가 가능한 시간 영역 신호처리 기법을 사용한다. 적응 횡단 필터는 협대역 간섭 신호에 좋은 성능을 나타내며, 구현이 용이하고 높은 효율성을 갖는다. 적응 횡단 필터의 구성은 입력 샘플 신호의 지연 탭을 위한 FIR 필터와 전파 간섭 신호의 크기와 주파수를 결정하는 가중치 생성부로 나눌 수 있다. 본 논문에서는 가중치 생성부에 적용 되는 알고리즘 중 상대적으로 연산량이 적은 LMS와 NLMS를 적용한 적응 횡단 필터를 설계하고, GPS 수신기에 적용 하였다. 실제 측정치를 이용한 다양한 실험에 의한 항법 성능 평가를 통하여 NLMS가 LMS보다 좋은 성능을 나타냄을 확인하였다.

위성발사체와 같이 극환 환경에서 사용되는 전자 탑재물들은 진동이나 충격이 가해질 때 정상적으로 동작하지 못하는 경우가 많다. 그러므로 위성발사체에 탑재되는 모든 탑재물들은 발사전에 지상에서 다양한 환경시험을 통하여 그 성능을 검증해야 한다. 기준 클럭을 사용하여 항법해를 계산해야 하는 GPS 수신기는 특히 다른 전자 탑재물 보다 클럭의 안정도에 더 많은 영향을 받으므로 극한 진동 및 충격 환경에서 다양한 문제들이 나타난다. 본 논문에서는 위성발사체의 비행안전용으로 개발된 GPS 수신기의 진동 및 충격 환경시험 결과를 바탕으로 그러한 환경에서 기준 클럭이 영향을 받아 나타나는 다양한 동작특성을 설명하고, 기준 클럭의 중요성과 진동 및 충격 환경시험에서의 유의사항 및 문제 해결 방법에 대하여 설명한다.

본 논문에서는 GPS와 WAAS를 동시에 수신하고 처리할 수 있는 GPS/WAAS 소프트웨어 수신기를 개발한다. WAAS는 GPS L1과 동일한 반송파 주파수와 C/A 코드, 데이터로 구성되며, 데이터 포맷이 다르므로 WAAS 데이터를 복조하기 위한 블록을 추가하여, 보정 정보와 무결성 정보, WAAS 위성의 위치 정보를 추출 및 적용한다. 본 논문에서는 보정 정보를 처리하는 블록이 추가된 GPS/WAAS 소프트웨어 수신기를 설계하여 수신기의 측위 성능 및 가용성을 높이고, 실제 측정치를 이용한 측위 실험을 통하여 그 성능을 검증한다.

본 논문에서는 일반적인 항법 확인 뿐만 아니라 간섭신호 제거용 필터의 성능 검증을 위한 고성능 GNSS SDR 플랫폼을 개발하였다. 개발된 수신기 플랫폼은 간섭 신호 제거 필터 응용까지 고려한 RF부와 16비트의 분해능을 갖는 고속의 USB 데이터 수집장치, PC 및 GNSS 소프트웨어 수신기 프로그램으로 구성된다. 개발된 플랫폼은 스펙트럼 분석기로 RF부를 검증하였으며, 상용의 GNSS 시뮬레이터를 사용하여 PC에서 데이터를 확인함으로써 신호 수집장치의 동작을 검증하였다. 실제 GPS 신호를 PC에 저장하고, 소프트웨어 수신기에서 항법 결과와 신호 획득시간, 신호 대 잡음 전력비를 확인하여 전체 플랫폼 기능 및 성능을 확인하였다.

현재 사용되는 디지털 신호처리 방식의 GPS(Global Positioning System) 수신기는 최소의 RF 블록만을 이용하여 모든 디지털 신호 처리를 소프트웨어로 수행하고 있다. 소프트웨어 GPS수신기의 장점으로는 디지털 신호처리 과정이 모두 소프트웨어로 구현되어 있기 때문에 새로운 구현 방식이나 알고리즘을 적용할 시, 하드웨어 변경은 필요가 없게 되고, 소프트웨어 재설계만으로 가능하다. GPS 수신기의 Tracking module 성능은 DLL discriminator function과 FLL discriminator function의 Algorithm에 의해서 영향을 받게 된다. DLL discriminator function algorithm에는 dot-product 와 normalized dot-product 방법 등이 있으며, FLL discriminator function algorithm에는 sign(dot)(cross)-product 와 cross-product 그리고 ATAN 방법이 있다. 이러한 discriminator function들은 algorithm에 따라 input error에 대한 discriminator의 출력 값을 일정한 범위에서의 차이를 나타내게 되면서 ranging accuracy에서 차이가 나타나게 된다. 본 논문에서는 Nordnav 소프트웨어 GPS 수신기를 이용하여 DLL discriminator algorithm과 FLL discriminator algorithm의 성능을 비교, 분석을 하고 Tracking accuracy, sensibility, 그리고 multipath rejection에 대해서 알아보고자 한다.

위성신호는 저앙각에 위치하거나 재밍 및 간섭신호의 영향을 받으면 약해진다. 이러한 약신호를 안정적으로 추적하기 위해서는 신호추적루프의 대역폭이 가능하면 작아야 한다. 그러나 작은 대역폭의 신호추적루프는 고기동 환경에서 기준주파수의 주파수오차를 포함한 입력오차가 커져 불안정해진다. 본 논문에서는 최대 저크 15g/s의 동적특성을 가지는 항체의 항법정보를 획득하고 동시에 28dB-Hz의 약신호도 안정적으로 추적할 수 있는 신호추적루프를 연구한다. 이를 위해 위성신호 상태를 예측할 수 있는 SNR, 앙각, 항체의 가속도 등을 고려하여 대역폭 및 PIT를 가변적으로 설계한 적응형 신호추적루프를 설계한다. 또한 약신호인 C/No 28dB-Hz 신호를 안정적으로 추적하기 위해 10ms의 PIT(Predetection Integration Time)와 비트동기를 고려한 Coherent 방식을 적용한 반송파 위상추적루프를 설계한다. 이렇게 설계된 신호추적루프의 성능을 검증하기 위해 항체의 동적환경과 위성신호 크기를 묘사해줄 수 있는 시뮬레이터를 이용하여 위성신호 추적성능을 시험하고 결과를 분석한다.

본 논문에서는 IIR/FIR 필터 융합을 위한 기법을 제안하고 이를 INS/GPS 결합항법장치에 적용한다. IIR 형태의 EKF와 FIR 형태의 RHKF 필터를 각 필터의 잉여값과 잉여값 공분산을 이용한 적응형 융합 확률을 계산하여 융합함으로써 두 필터의 장점을 갖도록 한다. 이 융합 기법을 적용한 INS/GPS 결합항법장치는 기존의 단독 필터를 사용하는 것보다 강인한 특성을 갖고 항법정보를 제공한다.

INS를 사용하는 지상항법시스템은 GPS 등의 보조 센서와 관계없이 다양한 환경에서 장시간 운용시 항법 성능을 보장하기 위하여 재교정 과정을 거쳐야 한다. 본 논문에서는 이러한 재교정 절차 없이 장시간의 반복적인 사용에도 신뢰할 수 있는 항법해를 제공하기 위한 동작간 교정 기법에 대한 기초 연구를 수행한다. 이를 위하여 지상항법시스템에 나타나는 다양한 운동 특성을 묘사할 수 있는 시뮬레이터를 개발하고, 각 운동 특성에서의 가관측성 해석과 INS와 GPS의 항법 출력 특성을 분석한다.

최근 국내외에서 재래식 폭탄의 정확도와 사거리를 향상시킨 정밀 유도 무기에 관한 연구가 활발하게 진행 중에 있다. 국내에서는 국방과학연구소의 주도로 재래식 폭탄에 GAK(GPS Adapter Kit)를 장착하는 연구가 진행 중이다. GAK는 GPS/INS 복합 항법 모듈을 내장한 사거리 연장 유도 키트의 일종으로 폭탄이 투하되면 접혀 있던 날개가 전개되고 이후 날개의 플래퍼론을 구동하여 유도 조종을 수행한다. 복합 항법 모듈은 상용의 MEMS IMU, 내장형 GPS 수신기 및 항법 컴퓨터와 실시간 운영 체제에서 구동되는 항법 소프트웨어로 구성된다. 본 논문에서는 복합 항법 모듈의 비행 시험 결과를 제시하였다. 시험 결과 항법 모듈이 실시간으로 정상적인 동작을 수행하였으며 GPS 유도 폭탄의 유도 조종에 적합한 항법 정보를 제공하였음을 확인하였다.

본 논문에서는 헬기의 인공 시계 시스템용 DGPS/INS 통합 항법 플랫폼을 설계하였다. DGPS/INS 통합 항법 플랫폼 하드웨어는 PowerPC CPU와 Flash ROM과 DDR SDRAM를 이용하여 설계하였다. DGPS 수신기와 IMU와의 연결을 위한 외부 인터페이스부는 직렬 통신을 사용하는 DGPS수신기와 IMU는 모두 사용할 수 있도록 하기 위하여 직렬 통신 방식인 UART 컨트롤러와 SDLC 컨트롤러를 사용하여 설계하였다. 실시간 운영체제를 기반으로 하는 플랫폼의 소프트웨어는 초기 정렬, 자세 계산, 속도 계산, 위치 계산, 통합 필터, 명령 처리 각각에 대하여 태스크로 구성하고 세마포어를 이용하여 태스크간의 동기가 이루어지도록 설계하였다. 통합 항법 플랫폼의 성능 평가를 위하여 차량 실험을 수행하였으며 상용 항법 시스템의 결과와 비교를 하였다.

관성항법장치는 관성항법장치를 구성하는 관성센서인 가속도계 및 자이로의 오차요소에 의해 수평축 항법오차는 슐러주기를 가지고 서서히 증가하는 반면에 수직축 오차는 기하급수적으로 증가하는 특성을 가지고 있다. 그러므로 관성항법장치를 장시간 운용하는 경우에는 비관성 보조센서를 이용하여 관성항법장치의 수직축 항법오차에 대한 보정을 반드시 수행하여야 한다. 관성항법장치의 수직축 항법오차를 보정하기 위한 비관성 보조센서의 일종인 기압고도계는 계측된 대기압과 모델링 된 대기압을 비교하여 항체의 고도를 측정하는 방법을 이용하기 때문에 항체의 자세변화 등에 매우 민감하고 대기압 측정오차에 의해 매우 큰 진폭의 잡음 및 바이어스가 존재한다. 본 논문에서는 시뮬레이션 및 시험을 통하여 기압 고도계의 잡음 및 바이어스 오차 성분에 의한 baro-inertial 고도루프의 성능분석 결과를 제시하고 기압고도계 잡음에 둔감한 INS/기압고도계 칼만필터의 설계 결과를 제시한다.

스트랩다운 관성항법장치에 사용되는 대표적인 광학식 자이로인 링레이저 자이로(Ring Laser Gyro ; RLG)는 회전체가 없어 기존의 기계식 자이로가 가지고 있던 g-sensitive 오차가 발생하지 않지만 RLG 내부에 부착되어 링레이저를 반사시키는 기능을 하는 반사경의 산란에 의해 일정 크기의 작은 입력 각속도를 측정하지 못하는 lock-in이 발생한다. 이러한 lock-in을 제거하기 위해 정현파 진동을 RLG 몸체에 인가하며 이 진동에 의하여 자이로 출력에 랜덤워크 성분이 유발되어 RLG 성능저하의 원인이 된다. 본 논문에서는 RLG 랜덤워크에 의한 관성항법장치의 초기정렬 기법에 따른 초기정렬 성능을 분석하고 이에 대한 시뮬레이션 결과를 제시한다.

본 논문은 UAV를 이용한 항공기 기반 의사위성 항법시스템의 항법 메시지를 설계하는 효율적인 방법에 대해서 다루고 있다. 논문에서는 먼저 GPS 보강 시스템 혹은 독자적인 지역 항법시스템으로 응용이 가능한 UAV 의사위성 시스템에 대해서 설명한다. UAV의 기동은 비교적 짧은 시간 동안 매우 다양하게 변화할 수 있으므로, 위치를 나타내는 항법메시지의 설계에 특별한 고려가 요구된다. 본 연구에서 사용한 방법은 UAV의 직선 경로와 원 경로에 대해 각각 고유한 메시지 형식을 사용하고, 이 각각의 메시지를 nominal 메시지와 deviation 메시지로 구분하였다. 이러한 방식은 메시지의 전체 크기를 줄일 뿐만 아니라 시간 지연 문제에도 효과적으로 대응할 수 있게 한다. 줄어든 메시지 크기로 인해 남게 되는 공간은 다른 유용한 메시지의 전송에 사용할 수 있다. 본 연구에서는 제안된 형식의 성능 검증을 위해서 실제 UAV의 실험 데이터를 분석하였다. 분석에 사용된 데이터가 단일 안테나 GPS 수신기를 사용한 제한된 제어 시스템을 가진 실험 수준의 UAV로부터 얻은 것이었지만, 전체적인 성능은 위성항법시스템에 근접한 수준을 얻을 수 있었다. 본 논문에서 제안된 메시지 형식과 관련 설계 방법은 비행선이나 기구를 이용한 시스템에도 응용할 수 있을 것이다.

본 논문에서는 GPS와 의사위성을 이용하는 무인항공기 착륙용 측위 정확도 예측 프로그램의 개발을 나타내었다. 무인항공기의 착륙 환경을 모사하기 위하여 착륙 장소의 GIS 데이터를 기반으로 광선추적(ray tracing) 기법을 이용하여 의사 위성신호의 전파과정을 상세히 모사하였으며, GPS 위성의 위치는 위성궤도 생성 프로그램과 오차 모델을 이용하여 생성하였다. 의사위성 신호와 GPS 신호를 동시에 사용하여 위치를 구할 수 있으며, 일반적인 GPS UERE 모델과 의사위성 설치 환경의 UERE 모델을 이용하여 DOP와 NSP를 계산하고 측위 정확도를 예측할 수 있다. 개발된 측위 정확도 예측 프로그램은 무인항공기의 착륙지의 선정 및 오차 예측뿐 아니라 의사위성과 GPS를 동시에 사용하는 모든 응용에 효과적으로 적용될 수 있다.

GPS수신기는 항법센서로서 여러 분야에서 널리 사용되고 있다. 단일 안테나 GPS수신기로부터 일반적으로 위치와 속도 및 시간 정보를 얻을 수 있다. 그러나 고정익 항공기의 운동 특성을 고려하여 단일 안테나 GPS수신기의 측정치로부터 무인항공기의 자세를 추정할 수 있다. 이로써 단일안테나 GPS수신기를 이용하여 무인항공기의 자동 제어가 가능함을 이전 논문에서 보인 바 있다. 본 논문에서는 단일 안테나 GPS수신기를 무인항공기의 기본 센서로 사용하여 자동 이착륙이 가능함을 비행실험을 통해 보인다. 무인항공기의 반응속도와 강건성을 향상시키기 위해 rate gyros의 각속도 측정치를 이용한다. 또한 활주로에 자동착륙하기 위해서는 높은 정확도의 위치 정보가 필요하므로 DGPS를 이용하였다. 비행 실험 동안 무인항공기는 이륙에서 착륙까지 모든 과정을 자동 제어로 수행한다. 대부분 비행은 경로 제어로 이루어진다. 비행 실험 결과를 바탕으로 단일안테나 GPS수신기가 General Aviation 항공기나 무인항공기의 백업이나 저가의 제어 시스템을 위한 주 센서로서 사용이 가능할 것으로 판단된다.

본 논문에서는 소형 무인항공기의 정확한 위치, 속도, 자세 정보를 제공하기 위해 저급의 MEMS IMU를 이용한 항법 시스템을 제안한다. 제안하는 시스템은 비행체의 직선운동과 회전운동을 측정할 수 있는 관성측정기와 위성신호를 수신하여 항체의 위치, 속도 정보를 제공하는 GPS 수신기, 지구 자기장 정보를 이용하여 방향각 정보를 제공하는 지자기 센서들로 구성되었다. SDINS와 약결합 방식의 칼만필터를 이용한 항법 시스템은 초기정렬 알고리즘과 센서 오차 보상 알고리즘, 자력계 보상 알고리즘 및 복합항법 알고리즘으로 나뉘며, 설계된 항법 알고리즘들은 시뮬레이션과 차량 실험을 통해서 성능을 분석하였다.

1967년 시간의 기본 단위인 초가 세슘원시계에 의해 정의된 이후, 각 국의 표준기관에서는 보다 정확한 원자시계개발 연구와 평가를 수행하고 있다. 이러한 연구는 정확한 시간척도(Time Scale)와 국제원자시를 생성하여 산업과 과학분야에 기여하기 위한 것이며, 이에 필연적으로 국제간 시각비교 개선을 위한 연구도 함께 발전되어 왔다. 전파를 이용한 시각비교는 지상파를 이용하던 70년대 초부터 시작되었는고 1981년부터 GPS에 의한 시각비교 방법이 소개된 이후, 80년대 후반에 들어서면서 GPS 활성화에 따라 급격히 시각비교 정확도가 향상되었다. 그러나 GPS와 더불어 통신위성을 이용한 양방향 시각비교(TWSTFT)의 필요성에 따라 세계 선진 표준기관들은 이 방법을 수행하고 있다. 한국표준과학연구원(KRISS)에서도 통신위성을 이용한 양방향시각비교를 구축하여 운용하고 있으며 아시아, 오세아니아, 유럽지역과 비교를 할 수 있는 시스템을 구축하여 운용하고 있다. 본 논문에서는 PAS-8위성을 이용한 KRISS와 NMIA(호주)와 양방향시각비교를 수행함에 있어 필수적으로 계산 또는 측정하여야하는 오프셋값을 결정방법으로 GPS와 Circular-T를 이용하여 산출한 결과를 제시한다.

다채널 시각비교 수신기(R100-40T, Euro-80)를 이용한 GPS C/A 코드 시각비교 데이터와 Ashtech Z12T 수신기를 이용한 P3 코드 시각비교 데이터를 통합 모니터링함으로서, 간편하게 시각비교 결과를 확인 할 수 있게 GUI(Graphic User Interface) 환경으로 구현하였다. 수신기들은 현재 KRISS(Korea Research Institute of Standards and Science)에서 사용 중인 위성이용 시각비교 수신기들이다. 본 시각비교 통합 모니터링 프로세스를 통해서 GPS C/A code 시각비교 데이터와 P3 code 시각비교 데이터 각각을 비교 분석함으로써 시각비교 결과의 신뢰성을 검증하는데 사용한다.

현대 생활에 있어서 정확한 시간은 마치 공기와 같이 필요성이 직접적으로 확연하게 나타나지는 않지만, 첨단 통신, 항법, 금융 등의 산업 발전 및 국민의 일상 생활을 차질 없이 영위하기 위해서 없어서는 안 될 중요한 요소 중 하나이다. 광범위한 시각동기 응용 분야 중에서 본 논문에서는 특히 국민의 일상 생활과 밀접한 관계가 있는 수 ms 정도의 정확도를 갖는 타이밍 신호를 전국에 제공하기 위한 방안에 대해서 기술한다. 이러한 타이밍 신호의 응용 분야로는 열차, 지하철, 버스시간과 같이 수 초 정도의 정확도가 요구되는 경우, 인터넷통신 및 금융 거래와 같이 1초 이하의 정확도를 요구하는 경우, 교통 신호등과 같은 수백 ms 이내의 정확도가 요구되는 경우 등을 들 수 있다. 본 논문에서는 전파시계, 교통신호제어기, 전자상거래 등에서 요구되는 기준 시각을 제공하기 위한 방안 중 하나로 현재 해양수산부에서 운영하고 있는 NDGPS 비콘신호를 활용하여 전국적인 표준시의 방송 방안에 대해서 기술한다. 이를 위해서 유선전화망을 이용하여 표준시를 전송하는 방안, 수신된 표준시를 이용하여 방송할 타임태그를 작성하는 방법에 대해서 기술하였다. 또한 원격지 클럭에 대한 동기 성능을 분석하는 방법 및 이에 대한 결과를 제시하였다.

본 논문에서는 현재 KRISS(한국표준과학연구원)에 구축 된 JCSAT-1B 위성과 PAS-8 위성 그리고 PAS-4 위성을 이용하여 KRISS와 NICT(일본의 정보통신연구기관)간의 양방향 시각비교를 통하여 그들의 안정도를 비교분석하고 향후 JCSAT-1B 위성의 백업시스템으로써 PAS-4 위성과 PAS-8 위성의 활용성을 검토하였다.

본 논문에서는 원자 시계를 이용한 위성 시계 감시 기법을 제안하고 실시간으로 구현하였다. GPS 수신기 측정치에는 궤도 오차, 이온층 지연, 대류층 지연, 다중경로, 수신기 시계 오차들이 포함되어 있어 감시국에서는 위성 시계 오차가 이러한 오차보다 커지기 전에는 검출하기가 어렵다. 따라서 천천히 변화하는 위성시계 오차를 검출하는데 긴 시간이 소요된다. 이러한 문제를 해결하기 위하여 본 논문에서는 원자시계를 이용하여 수신기 시계오차를 최소화하고, 이중 주파수 측정치를 이용하여 전리층 지연을 제거하는 등 위성 시계 오차 외의 나머지 오차 성분들을 효과적으로 제거하고 남은 오차의 특성으로부터 위성시계의 이상을 감시하는 방법을 제안하였다. 제안한 기법은 윈도우 기반 GUI형태의 소프트웨어로 구현하였고, 원자시계로부터 시각을 제공받는 GPS 수신기로 실시간으로 데이터를 수신하여 그 타당성을 확인하였다. 수신기에 원자시계를 이용함으로써 이상판별을 위한 임계치를 낮출 수 있어 천천히 변화하는 이상을 빨리 검출할 수 있어 이를 일반 사용자가 방송함으로써 사용자의 안전성을 향상시킬 수 있을 것이다.

항법 장치의 특성을 이해하고 통합 필터를 설계하기 위한 기본 도구로 많이 활용되는 것이 시뮬레이션 도구이다. 이것은 실재 시스템을 구현할 때 부딪히는 각종 어려움으로부터 벗어나, 비교적 쉽게 성능분석을 할 수 있다는 장점 때문이다. 본 논문에서는 윈도우 기반의 전산 모의 소프트웨어를 개발하고, 이 프로그램을 이용하여 GPS와 INS 등의 센서를 이용한 복합 지상항법 시스템의 성능을 분석하였다.

Zigbee를 이용한 실내 위치 측정 기법에서는 수신신호세기(RSSI) 측정치를 거리측정치로 활용하여 삼각측량법이나 DB 검색법을 이용하여 위치를 구한다. RSSI 측정치는 Zigbee 통신에서 기본적으로 제공하는 값으로 하드웨어 추가 없이 거리 측정에 사용할 수 있지만 정확도가 떨어진다. 이를 해결하기 위해 초음파 센서를 장착하고 RF와 초음파의 속도차이를 이용하여 정확한 거리를 측정할 수 있다. 이렇게 구해진 거리를 이용하면 정확한 위치를 구할 수 있다. 이를 구현하는 방법으로 본 논문에서는 고정된 위치의 비컨들이 순차적으로 신호를 전송하여 노드의 위치를 구하는 경우 발생하는 비컨의 전송 스케줄, 추가 및 동기 유지의 어려움을 해결할 수 있도록 노드에서 신호를 전송하고 비컨에서 구한 거리를 다시 노드로 Zigbee 통신을 이용하여 전달하여 위치를 구하는 기법을 제시하였다. 추가로 본 논문에서는 비컨 수의 제약으로 위치를 구할 수 없는 경우에 초음파 측정치에 추가하여 RSSI 측정치를 동시에 이용하는 위치측정기법을 제시하고, 실제 정적, 동적 실험을 통하여 그 유용성을 보였다. 3개 이상의 초음파 신호가 수신되는 경우 cm 급의 정확도로 위치를 10Hz 이상으로 구할 수 있었으며, 2개 이하의 초음파 신호가 수신되는 경우에도 RSSI 측정치가 있으면 수십 cm 급의 정확도로 위치를 구할 수 있음을 확인하였다.

휴대 인터넷은 이동 중에도 무선으로 고속의 데이터 송수신이 가능한 통신 서비스로서 우리나라에서는 WiBro(Wireless Broadband)라고 명명되어 2006년 6월 상용 서비스를 시작하였다. 한국 정보 통신 기술협회(TTA)와 IEEE802.16e 표준에서 제시된 휴대인터넷 서비스는 기본적으로 기지국과 단말을 기반으로 한 CDMA통신 시스템과 유사한 셀룰러 망 구조를 가지고 있다. 와이브로에서 모든 RAS(Radio Access Station)는 매 5msec마다 프레임을 전송하고, 이 프레임의 앞 단에는 Preamble이 위치하고 있어 기지국과 단말의 Synchronization을 가능케 해준다. 각 RAS는 서로 다른 Preamble을 사용하므로 단말은 Preamble detection을 통해 기지국을 구분할 수 있다. 본 논문에서는 휴대인터넷을 이용한 무선측위의 해상도 및 가청성을 현장실험을 통하여 분석한다. 현재 상용화 되어 사용중인Wibro 신호를 기저대역으로 낮추고 이 신호를 디지타이저를 사용하여 20MHz의 샘플링 주파수로 수집한다. 5msec 주기의 Wibro프레임 중에서 Preamble을 Correlation detection 기법을 사용하여 기지국과 단말 사이의 relative delay를 측정하여 기지국들과 단말 사이의 거리의 차를 구한다. 거리측정치를 이용하여 Wibro 망에서의 무선측위 추정치를 구하고 해상도와 정확도 및 가청성 등의 Wibro의 측위성능을 분석한다.

위치 정보를 얻기 위해 GPS를 이용하며 다수의 GPS 안테나를 이용하면 자세까지 구할 수 있다. 그러나 실내에서는 GPS 신호 세기가 너무 약해 동작하지 않는 단점이 있다. 본 논문에서는 GPS 대신 Zigbee와 초음파를 이용하여 실내에서도 위치와 자세를 구하는 기법을 제시하였다. Zigbee 신호와 초음파 신호의 도착 시간차로부터 송신기와 수신기간의 거리를 구할 수 있으며 이로부터 위치를 구할 수 있다. 여기에 추가의 발신기를 장착하면 두 발신기의 위치 차이로 정의되는 기저선 벡터를 구할 수 있으며 이로부터 자세를 구할 수 있다. 본 논문에서는 다수의 발신기를 이용하여 효과적으로 기저선 벡터를 구하는 기법과, 이로부터 자세를 구하는 시스템을 구축하였다. 추가로 오차해석을 통하여 구해진 자세의 정확도를 예측하였다. 실제 실험을 통하여 20cm 간격의 두 발신기를 이용하여 1도 이하의 오차를 갖는 방위각과 앙각을 연속적으로 구할 수 있음을 확인하였다.

본 논문은 갈릴레오 위성항법시스템 중 갈릴레오 위성의 신호 수신 및 위성으로 무결성 정보 송신을 위한 지상국의 설치 요구조건에 대한 분석이다. 갈릴레오 위성항법시스템은 기존의 항법위성 시스템인 GPS 및 GLONASS 에 대응하기 위하여 유럽연합에서 새로이 추진중인 항법시스템이다. 이러한 항법시스템을 감시 제어하기 위한 지상국 중 신호감시국 및 상향링크국 설치에 필요한 다양한 요구 조건에 대하여 분석하여 갈릴레오 프로젝트에 우리나라가 참여할 수 있는 방안을 모색한다.

The radio signal in GNSS was intentionally designed with two frequencies in order to combat the dispersion error caused by trans-ionospheric propagation. By measuring the path delay independently at the two, widely spaced GPS frequencies, L1 & L2, the TEC along the path from satellite to receiver can be measured directly. The issue with dual frequency measurement of the ionosphere is the calibration of L1/L2 interfrequency biases. L1/L2 interfrequency biases are generated because physical electric signal paths of L1 and L2 circuits are different from each other for both satellites and receiver. Conventionally L1/L2 interfrequency bias is estimated and broadcasted by 2D ionospheric model. In this paper, we estimated IFB (interfrequency bias) by 2D & 3D ionospheric models including real time filter methods and compared the result of those and concluded the merit of 3D tomography model to recover the problem of 2D thin shell model. We confirmed our conclusion by experimental data.

한국천문연구원(KASI)은 국제 GNSS 관측망(IGS)의 글로벌 데이터 센터(GDC)를 설립하였다. KASI GDC는 공식적으로 IGS GDC이고 세계 4번째로 설립되었으며, 아시아 및 오세아니아 지역에서는 최초이다. KASI GDC는 IGS GNSS 데이터를 기록하고, IGS GPS 데이터와 IGS 산출물을 인터넷을 통해 제공한다. GDC에서 다루는 데이터의 양은 매우 빠르게 증가한다. GDC 데이터의 대용량을 처리하기 위해서는 시스템의 높은 효율성과 신뢰성이 요구된다. 그래서 KASI GDC는 높은 신뢰성과 대용량 저장 장치를 필요로 하는 저장 시스템을 구성하기 위해 RAID와 LVM을 적용했다. KASI GDC의 공식 출범 이후 데이터 이용 현황을 확인하고, 항상 시스템이 Active 상태로 유지하기 위한 무정전 시스템 구성에 대해 기술한다.

한국지질자원연구원은 1990년대 초반부터 순차적으로 강원도 경주, 양산, 삼척, 홍성, 정선, 지리산 등 6 개 지역에 GPS위성들이 발사하는 자료를 연속적으로 수신하여 자동관리할 수 있는 GPS 상시관측소를 설치하고 GPS위성자료를 축적해 왔다. 이에 한국지질자원연구원은 축적된 자료 중 2005년과 2006년에 걸친 자료를 이용하여 정밀좌표를 계산하였다. 자료처리에는 스위스 Bern대학이 개발한 Bernese4.0을 이용하였다. 이렇게 계산된 위 6 개 GPS상시관측소의 정밀 좌표를 이용함으로써 GPS위성자료를 사용하는 하는 지구과학 분야 및 측량 분야의 발전에 기여할 것이다.

COSPAS-SARSAT 시스템은 위성체와 지상 설비를 이용하여 항공기 또는 선박 등이 조난 시에 탐색구조(SAR: Search and Rescue) 활동을 도울 수 있도록 조난경보와 위치정보를 제공하는 시스템이다. COSPAS-SARSAT 서비스의 경우, 조난신호 접수에서 조난위치확정까지 평균 1시간 이상이 소요되고, 위치정확도가 수 Km 정도로 범위가 넓은 편이다. 이러한 문제점을 개선하기 위해서 중궤도 위성을 이용한 차세대 탐색구조 시스템 개발이 추진 중에 있으며 EU에서 2011년 FOC(Full Operation Capability)를 목표로 개발중인 갈릴레오 항법위성 프로젝트의 경우 SAR 중계기를 탑재하여 탐색구조 서비스를 제공할 계획에 있다. 갈릴레오 탐색구조(SAR/Galileo) 서비스는 수 m급의 위치정확도, 10분 이내의 조난신호 접수에서 구조까지 소요시간, 및 조난자에게 회신링크 서비스 제공 등 보다 향상된 탐색구조 성능을 제공하기 위해 개발 중에 있으므로, 갈릴레오 위성 서비스가 시작되면 탐색구조시스템 체계에 보다 신속하고 정확한 구조가 가능할 것으로 예상된다. 우리나라에서는 COSPAS-SARSAT 회원국으로 가입하여 현재 송도 해양경찰청 내에 LEOLUT와 MCC가 설치되어 운용되고 있다. 날로 더해가는 다양한 재난에 대한 인명구조를 신속하고 효과적으로 대처하기 위해 차세대 갈릴레오 탐색구조 지상국 도입이 절실하다고 할 수 있다. 따라서, 탐색구조 단말기를 포함한 지상국 인프라의 구축 등 갈릴레오 탐색구조 지상시스템 개발의 참여 방안에 관한 연구는 매우 시기적절하고 중요한 연구이다. 본 논문은 갈릴레오 사업에 참여하여 SAR/Galileo 개발을 주관하고 있는 중국의 사례를 분석함으로 우리나라가 차세대 갈릴레오 탐색구조 지상시스템 개발에 참여하기 위해서 필요한 참여방법 및 절차 등을 도출하고, 참여 가능한 개발범위, 참여전략 및 추진체계에 대해서 제안한다.법의 성능을 평가를 위하여 원본 여권에서 얼굴 부분을 위조한 여권과 기울어진 여권 영상을 대상으로 실험한 결과, 제안된 방법이 여권의 코드 인식 및 얼굴 인증에 있어서 우수한 성능이 있음을 확인하였다.진행하고 있다.태도와 유아의 창의성간에는 상관이 없는 것으로 나타났고, 일반 유아의 아버지 양육태도와 유아의 창의성간의 상관에서는 아버지 양육태도의 성취-비성취 요인에서와 창의성제목의 추상성요인에서 상관이 있는 것으로 나타났다. 따라서 창의성이 높은 아동의 아버지의 양육태도는 일반 유아의 아버지와 보다 더 애정적이며 자율성이 높지만 창의성이 높은 아동의 집단내에서 창의성에 특별한 영향을 더 미치는 아버지의 양육방식은 발견되지 않았다. 반면 일반 유아의 경우 아버지의 성취지향성이 낮을 때 자녀의 창의성을 향상시킬 수 있는 것으로 나타났다. 이상에서 자녀의 창의성을 향상시키는 중요한 양육차원은 애정성이나 비성취지향성으로 나타나고 있어 정서적인 측면의 지원인 것으로 밝혀졌다.징에서 나타나는 AD-SR맥락의 반성적 탐구가 자주 나타났다. 반성적 탐구 척도 두 그룹을 비교 했을 때 CON 상호작용의 특징이 낮게 나타나는 N그룹이 양적으로 그리고 내용적으로 더 의미 있는 반성적 탐구를 했다용을 지원하는 홈페이지를 만들어 자료 제공 사이트에 대한 메타 자료를 데이터베이스화했으며 이를 통해 학생들이 원하는 실시간 자료를 검색하여 찾을 수 있고 홈페이지를 방분했을 때 이해하기 어려운 그래프나 각 홈페이지가 제공하는 자료들에 대한 처리 방법을 도움말로 제공받을 수 있게 했다. 실시간 자료들을 이용한 학습은 학생들의 학습 의욕과 탐구 능력을 향상시켰으며 컴퓨터 활용 능력과 외국어 자료 활용 능력을 향상 시키는데도 도움을 주었다.지역산업 발전을 위한 기술역량이 강화될 것이다.정 ${\rightarrow}$ 분배 ${\rightarrow}$ 최대다수의 최대행복이다.는 역할을 한다. 따라

본 논문에서는 Late 암으로부터 측정된 상관 값을 보정하여 상관함수의 비대칭을 완화시키고 다중경로 신호 오차를 제거하는 새로운 상관기 설계법을 제안하였다. 다중경로 오차에 의한 신호 추적 오차는 상관함수의 Early-Late 간 비대칭과 관련이 있으므로, 다중상관기 구조를 이용하여 상관함수의 Early-Late간 상관값 차를 측정하면 상관함수의 비대칭 정도를 추정할 수 있다. 상관값 차를 이용하여 추정한 상관함수 비대칭을 감소시키면 다중경로 신호에 의한 코드 추적 오차를 줄일 수 있다. 제안한 상관기는 4개의 암과 보정치 생성 블록으로 구성된다. 제안한 상관기의 다중경로 오차 제거 성능은 시뮬레이션을 이용하여 확인하였다. 여러 가지 지연시간 및 신호 진폭을 가지는 다중경로 신호에 대하여 일반 수신기와의 위상 추적 오차를 비교하여 성능을 평가하였다. 시뮬레이션 결과에서 제안한 상관기는 우수한 다중경로 오차 제거 성능을 가지며 일반상관기와 유사한 평균 신호 획득시간을 가짐을 알 수 있다.