• Journal of Advanced Navigation Technology
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• v.11 no.4
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• pp.371-377
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• 2007

Ionospheric time delay is one of the main error source for single-frequency DGPS applications, including time transfer and Wide Area Differential GPS (WADGPS). Grid-based algorithm was already developed for WADGPS but that algorithm is not applicable to geomagnetic storm condition in accuracy and management. In geomagnetic storm condition, the spatial distribution of vertical ionospheric delay is noisy and therefore the accuracy of modeling become low in grid-based algorithm. For better accuracy, function based algorithm can be used but the continuity of correction message is not guranteed. In this paper, we propose the ionospheric model using wavelet based algorithm. This algorithm shows better accuracy with the same number of correction message than the existing spherical harmonics algorithm and guarantees the continuity of correction messages when the number of message is expanded for geomagnetic storm condition.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.11
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• pp.2162-2166
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• 2016

This paper describes the implementation of AUSV system for sonar image acquisition to survey the seabed. The system is controlled by Feed Forward PID algorithm on the vessel for bearing of the thrusters composed of motion sensor and DGPS which calculates the differences between the current location and the destination location for longitude and latitude based on GPS coordinates. As experimental results, the bearing control performance is good that the error distance from the destination positions are under 6m in total survey track of 1km. And the sonar image deviation of a object is under 12 pixels from the manned survey method, which the comparison with the total image quality is almost the same as the manned survey one. Thus the proposed AUSV system is a new method of system can be utilized at the limited survey areas as the surveyor should not be able to approach on sea surface by onboard vessel.

• Journal of Advanced Navigation Technology
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• v.22 no.5
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• pp.400-408
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• 2018

Wide area augmentation system is a system that generates and transmits correction and Integrity information for use in wide area. Typical system is SBAS. In the United States, it operates under the name WAAS, EGNOS in Europe, MSAS in Japan, SDCM in Russia, GAGAN in India. it is developing Korean SBAS which named KASS by 2022 in Korea. SBAS is a standard System that is operated as civil aviation service base and set as international standards by ICAO. So the correction data can only is used for civil SPS receiver. In this paper, we discuss C1P1 DCB estimation which need to use SPS correction service for PPS receiver. Then we analyze C1P1 DCB correction effect under standalone Satellite Navigation and method to use PPS receiver under SPS DGPS. Finally we organize wide area augmentation system for PPS receiver and analysis performance.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.1-8
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• 2004

The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.339-340
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• 2008

로봇의 현재 위지 추적은 무인 로봇 자동 항법시스템의 중요 기술로 센서 데이터로부터 로봇의 위치를 결정하고 환경맵을 구성하는 것이다. 기존 방법으로는 초음파, 레이저 등의 거리 측정 센서를 이용해 로봇의 전역 위치를 찾는 방법과 스테레오 비전을 통한 방법이 개발되었다. 거리 측정 센서만으로 로봇위치 추적 알고리즘은 계산량이 감소하고 비용이 적게 들지만 센서오차율 및 환경장애에 따른 오류가 크다. 이에 반해 스테레오 비전 시스템은 3차원 공간영역을 정확히 측정할 수 있지만 계산량이 많아 고사양의 시스템을 요구하고 알고리즘 구현에 어려움이 있다. 따라서 본 논문에서는 단일 카메라 영상과 PSD(position sensitive device) 센서를 사용하여 로봇의 현재 위치를 추적하고 환경맵을 구성하여 자율이동이 가능한 시스템을 제안한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.163-164
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• 2014

Pseudolite systems are used for backup systems of GPS satellite or indoor navigation systems. The pseudolite transmits GPS-like signal on the ground. Fundamentally, to estimate a position, clock synchronization among satellites is essential, because GPS receiver uses measurement based on TOA. Therefore, in order to improve the navigation performance in applications using pseudolite, clock synchronization with GPS satellites is required. This paper proposes design of monitoring system for pseudolite clock synchronization. The monitoring system analyzes clock synchronization accuracy of pseudolite and can be used for clock adjustment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.10
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• pp.2307-2314
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• 2015

This paper focuses on the generation algorithm of BeiDou pseudorange correction (PRC) and simulation based performance verification for design of Differential Global Navigation Satellite System (DGNSS) reference station and integrity monitor (RSIM) in order to prepare for recapitalization of DGNSS. First of all, it discusses the International standard on DGNSS RSIM, based on the interface control document (ICD) for BeiDou, estimates the satellite position using satellite clock offset and user receiver clock offset, and the system time offset between Global Positioning System (GPS) and BeiDou. Using the performance verification platform interfaced with GNSS (GPS/BeiDou) simulator, it calculates the BeiDou pseudorange corrections , compares the results of position accuracy with GPS/DGPS. As the test results, this paper verified to meet the performance of position accuracy for DGNSS RSIM operation required on Radio Technical Commission for Maritime Services (RTCM) standard.

• Journal of Korean Society for Geospatial Information Science
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• v.8 no.1 s.15
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• pp.73-84
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• 2000

Map matching technique is an essential part of the car navigation and other related positioning fields such as dead reckoning and GPS data logging upon the GIS database. This paper is to break down map matching techniques, to categorize them, and to propose a simple technique for GPS based map matching technique. For categorization of techniques, two approaches have been adopted. One is to only use geometric information, and the other is to use both geometric and topological information. Some pros and cons of each method have been described. In addition, a simple map matching technique, set forth in this paper, has been introduced for properly utilizing the advantage of GPS points after the absence of the chronic problem of selective availability, which had been prevailed recently. Some research opportunities and problems of the technique have also been discussed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.11
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• pp.970-972
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• 2013

Signal acquisition performance is evaluated for the tiered polyphase code (TPC) which is proposed as a ranging signal structure for global navigation satellite systems (GNSSs). Compared to the tiered code (TC) which is adopted in European Union's GALILEO system, the TPC shows robust performance to frequency offset in acquiring signal. Therefore the TPC should have SNR gain in signal acquisition and can reduce computational complexity in the receiver. In this paper, we compare the signal detection probability of the TC and TPC under the same receiver architecture and GALILEO E5a-I signal parameters.

• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.499-506
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• 2015

Global navigation satellite systems (GNSS) is operating widely in civil and military area. GNSS signals, however, can be easily interfered because its signal is vulnerable to jamming. Thus, a sort of backup or alternative system is needed in order that the navigation performance is assured to a certain degree in case of GNSS jamming. In order to suggest a series of backup or alternative system of regional navigation, in this paper, we introduced a high altitude long endurance unmanned aerial vehicle (HALE UAV) with pseudolites using inverted GPS and transceiver system. We simulated the positioning error of the regional navigation system using HALE UAV with inverted GPS or transceivers concepts. We estimated the position error of HALE UAV calculate user position errors based on the position error of HALE UAV and general pseudorange error.