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http://dx.doi.org/10.5302/J.ICROS.2016.16.0112

Precision Positioning of a Stationary Transporter Using a Fault Detection and Isolation Method  

An, Jong-Woo (Department of Electric and Electronic and Computer Engineering, Pusan National University)
Kim, Yun-Ki (Department of Electric and Electronic and Computer Engineering, Pusan National University)
Lee, Jae-Kyung (Department of the Control & Instrumentation Engineering, Korea National University of Transportation)
Lee, Jangmyung (Department of Electric and Electronic and Computer Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.10, 2016 , pp. 859-868 More about this Journal
Abstract
This paper proposes a new global positioning system (GPS) receiver algorithm to improve the positioning accuracy of a transporter using fault detection and isolation techniques from satellite signals. To improve the positioning accuracy, several factors including a feasible number of satellite signals, SNR, NAV Measurement Quality Indicator (mesQI), and Doppler, among others, have been utilized in the proposed algorithm. To increase the number of feasible satellite signals, an erroneous satellite signal has been replaced by the previous one. In conventional approaches, received GPS signals are analyzed and directly determined to be contaminated or not. The only clean signals are utilized for identifying the current location. This fault detection and isolation (FDI) feasibility test is popular for commercial GPS receivers. In the urban environment, especially near a building, the feasible number of satellite signals becomes insufficient to position the transporter. To overcome this problem, satellite signals are efficiently selected and recovered. Additionally, using the proposed GPS receiver algorithm, a feasible number of satellite signals can be increased, thereby improving the positional accuracy. Real world experiments using a transporter that carries blocks in a shipyard have demonstrated the superiority of the proposed algorithm compared to conventional approaches.
Keywords
GPS; FDI; satellite signal; precision positioning; transporter;
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