• Journal of Advanced Navigation Technology
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• v.16 no.5
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• pp.738-743
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• 2012

Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.6
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• pp.121-130
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• 2009

In this paper, Gaussian probability distribution model based multi-sensor data fusion algorithm is proposed for a vehicular location awareness system. Conventional vehicular location awareness systems are operated by GPS (Global Positioning System). However, the conventional system is not working in the indoor of building or urban area where the receiver is difficult to receive the signal from satellites. A method which is combined GPS and UWB (Ultra Wide-Band) has developed to improve this problem. However, vehicular is difficult to receive seamless location information since the measurement systems by both GPS and UWB convert the vehicle's movement information separately at each sensor. In this paper, normalized probability distribution model based Hybrid UWB/GPS is proposed by utilizing GPS location data and UWB sensor data. Therefore the proposed system provides information with seamless and location flexible properties. The proposed system tested by Ubisense and Asen GPS in the $12m{\times}8m$ outdoor environments. As a result, the proposed system has improved performance for accurateness and connection ability between devices to support various CNS (Car Navigation System).

• Journal of the Korean Association of Geographic Information Studies
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• v.8 no.1
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• pp.88-95
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• 2005

Direct Georeferencing by combined multi-sensor based on the direct measurement of the projection centers and rotation angle of sensor through loading the GPS and INS in aircraft. The method of combined multi-sensor can offer us to acquire the exterior orientation parameters with only minimum GCPs, even the ground control process could be completely skipped. Consequently, It is possible extreme to reduce the time and expense for the mapping process. In this study, a CCD camera is simultaneously used in combined multi-sensor surveying, and acquired CCD image through Direct Georeferencing produce digital orthoimage. In this process, methods of combining sensor and digital orthoimage are examined and estimated. For the comparison of the positioning accuracy digital orthoimage through Direct Georeferencing, GCPs determined by GPS surveying are used. Two digital orthoimage are produced; one with a few GCP and the other without them. The accuracy of orthoimages produced through combined multi-sensor with GCPs meets that of 1:1,000 maps. Without GCPs, it meets that of 1:5,000 maps.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.973-978
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• 2005

In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

• Journal of Astronomy and Space Sciences
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• v.25 no.3
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• pp.291-298
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• 2008

With the growth of civil and commercial applications, the Global Navigation Satellite System(GNSS) that provides the positioning, navigation, and timing information affects to our life. In order to meet all the requirements of civilian user, new positioning technology with the accuracy of 10cm level has been applied and the positioning accuracy is getting improved. In this study, dual coverage(DAEJ, SUWN) GPS measurements were applied to improve the positioning accuracy for GPS L1 single frequency users. We processed some GPS data obtained from the distributed test sites in the wide area over Korea Peninsula. As a result, the combined solution output using dual coverage showed more improved positioning accuracy than that of single coverage.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.1 s.19
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• pp.83-90
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• 2002

Control point survey by GPS can save labor and time and can obtain result of high accuracy, but if excessive error is contained to Control point that is used to GPS relative positioning, the error that has influence on new point is propagated to various configuration. therefore poor triangulation points that are caused by careless management are existed, a product of the triangulation points still are in many case. In order to select new point, this study carried out error-analysis of surrounding-control-points and performed selective process of control point. The propriety parts of control points that are used to verify precision is identified by means of comparing existing product with or GPS product about some control points after directly observe each baseline by using EDM. As the error is analyzed by static positioning the optimum control point is selected, the precision of survey data by EDM is improved than GPS data.

• Journal of Advanced Navigation Technology
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• v.4 no.1
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• pp.45-49
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• 2000

A GPS measurement solution, in general, is obtained as a least squares solution since the measurement includes errors such as clock errors, ionospheric and tropospheric delays, multipath effect etc. Because of the nonlinearity of the measurement equation, we utilize the nonlinear Newton algorithm to obtain a least squares solution, or mostly, use its linearized algorithm which is more convenient and effective. In this study we developed a fixed point algorithm and proved its availability to replace the nonlinear Newton algorithm and the linearized algorithm. A nonlinear Newton algorithm and a linearized algorithm have the advantage of fast convergence, while their initial values have to be near the unknown solution. On the contrary, the fixed point algorithm provides more reliable but slower convergence even if the initial values are quite far from the solution. Therefore, two types of algorithms may be combined to achieve better performance.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.91-107
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• 2003

A 2-dimensional search process in the time and frequency domain is required to acquire the GPS signal, when the code phase and the carrier Doppler for the specified GPS satellite signal are unknown. This paper proposes a new scheme, called Squared-D Searching Method, which can reduce the number of carrier frequency candidates, and a new scheme, named extended Multiple Correlator(XMC), which can reduce the number of code phase candidates. The Squared-D Searching Method can take the twice of Doppler frequency, therefore it can find carrier frequency candidates. The XMC is different from the general multiple correlator in that a combined form of the locally generated codes is used for despreading. Also, this paper tries to analyze a signal detection probability of a GPS receiver under more realistic environments. The result shows that lower detection probability can be obtained when the phase differences among the codes are larger in the correlation arms of a multiple correlator. This phenomenon is not easy to explain with the previous results. And besides, the result shows that proposed acquisition schemes give better performance than a conventional acquisition scheme.

• Journal of Advanced Navigation Technology
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• v.13 no.3
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• pp.319-326
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• 2009

In this paper, the key technologies of Navigation receiver for GNSS sensor station are presented as a development result of a GNSS ground station in ETRI. A wide-band antenna and RF/IF components and SW signal processing unit to cover the GPS and Galileo signals for GNSS receiver are developed and its performance is verified by using GPS live signal and GNSS RF signal simulator from SpirentTM. We also gather GIOVE-A signal by using H/W antenna and RF/IF units in IF-level as sampling frequency and bit number, 112MHz and 8bits, respectively by using the developed wide-band antenna and RF/IF components. Data acquisition is done by using commercial data acquisition device from National Instrument TM. The gathered data is fed into SW receiver to process Galileo E1 to verify Galileo signal processing by Galileo live signal from GIOVE-A.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.4
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• pp.317-325
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• 2001

Although GPS has proven to be efficient in the fields of navigation and surveying, it has many problems of positioning in downtown areas. Therefore, if GPS is combined with GLONASS which is similar to GPS in its positioning and signal system, it is expected that accuracy will be improved. However, we should address certain problems that exist related to the coordinate, time, and signal system between the two. The purpose of this study is to develop a GPS/GLONASS combination program by considering the properties of GPS and GLONASS and to solve the problems related to differences in the coordinates system and signal system. It is also to present the efficiency of the program in navigation and geographic information through analyzing 3D positioning accuracy by GPS/GLONASS combination with an application experiment. As a result of this study, the accuracy of the DGPS/DGLONASS positioning program corresponded to that of commercial program, and that's accuracy was better than that of DGPS. Especially, the acquisition of navigation and geographic information was possible by DGPS/DGLONASS combination in downtown area where the continuous 3D positioning is impossible by DGPS only.