• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.56-56
• /
• 2000

In this paper, the relationship between GPS code and carrier tracking performance is given. Through the error analysis and experiments, the performance of code tracking loop can be improved using narrow correlation. The performance of code tracking loop can be also improved if the better carrier tracking loop is used. On the other hand, the performance of carrier tracking loop is independent of that of code tracking loop.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.9
• /
• pp.939-947
• /
• 2008

The GPS tracking loop consists of three parts in general: discriminator, loop filter and DCO (Digitally Controlled Oscillator). The loop filter is the main part of the tracking loop designed to ensure a good tracking performance. Generally, the loop filter is designed using classical PI(Proportional Integral) control. Although the carrier Doppler and code Doppler are generated by the same relative movement between the satellite and the user, often, the loop filters for each tracking loop are designed separately and independently. Sometimes, they are used in a combined manner such as carrier aided code tracking, FLL assisted PLL, etc. For better GPS signal tracking, we need to design the FLL/PLL/DLL altogether optimally. The purpose of this paper is to design a GPS receiver tracking loop based on the Kalman filter in a combined manner. Also, the proposed GPS receiver tracking loop is compared with a conventional tracking loop in terms of the transfer function and the DCO input. This paper shows that conventional tracking loop is equal to the Kalman filter based tracking loop.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.2
• /
• pp.152-157
• /
• 2013

In this paper, we represent the implementation and performance analysis of vector tracking loop based GPS receiver for jamming environment. The vector tracking loop navigation performance is compared by simulation with conventional tracking loop. The simulation results shows that vector tracking loop is more robust than conventional tracking loop in jamming environment. The vector tracking loop can gain 2dB in jamming performance capability over a conventional GPS receiver. Also, Anti-jamming performance of INS Doppler aiding and deep integration method are compared.

• Journal of the Korea Institute of Building Construction
• /
• v.10 no.3
• /
• pp.65-70
• /
• 2010

Steel frame construction in high places entails many risk factors. In order to improve the safety and productivity of steel frame construction, a project to develop a robotic tower-crane has been undertaken. As the first step, a real-time lifting-path tracking system is being developed. In a previous study, a laser-based tracking system was proposed. While a laser-based tracking system requires at least three laser sensors to detect the x, y, z coordinates of a lifted steel member, a GPS-based system has an advantage over the laser-based system, in that the x, y, z coordinates of a lifted steel member can be detected by a single GPS sensor. To improve the accuracy, arelative positioning method using two GPS sensors was proposed in a previous study. This paper reports an improved GPS-based lifting-path tracking system of a tower crane based on an integrated RF modem and GPS system. The results showedthat the RF modem could successfully send the identifier information to a server a maximum distance of 1 km away from the lifted steel beam, and the lifting path information of each beam captured by the GPS-based tracking system was successfully saved together. Also, byusing an improved algorithm for the GPS relative positioning method, the deviation was reduced to 0.61 m on average.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.3
• /
• pp.283-288
• /
• 2011

In this paper, an adaptive signal tracking loop for a GPS L1/L2C/L5 receiver is designed. The design parameters is adjusted according to the receiver's operating conditions such as the signal strength and the receiver dynamics by using the different characteristics of GPS L1, L2C and L5 signal. Simulation results show that the tracking accuracy of the proposed signal tracking loop is better than those of L1, L2C and L5 only signal tracking loop.

• Journal of Korea Multimedia Society
• /
• v.21 no.5
• /
• pp.545-557
• /
• 2018

The Global Positioning System (GPS) has become popular and widely used in many fields from military to civilian applications. However, GPS signals are suffered from interference due to its weak signal over wireless channel. There are many types of interference, such as jamming, blocking multipath, and spoofing, which can mislead the operation of GPS receiver. In this paper, vector-based tracking loop model with integrity check is proposed to detect and mitigate the harmful effect of interference on GPS receiver operation. The suggested methods are implemented in the tracking loop of GPS receiver. As a first method, integrity check with carrier-to-noise ratio (C/No) monitoring technique is applied to detect the presence of interference and prevent contaminated channels out of tracking channels to calculate position. As a second method, a vector-based tracking loop using Extended Kalman Filter with adaptive noise covariance according to C/No monitoring results. The proposed methods have been implemented on simulated dataset. The results demonstrates that the suggested methods significantly mitigate interference of Additive White Gaussian Noise (AWGN) and improve position calculation by 44%.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.10
• /
• pp.58-66
• /
• 2008

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.8
• /
• pp.739-745
• /
• 2006

This paper presents performance improvement of the INS velocity-adided GPS carier tracking loop. To this end, INS velocity-aided GPS carrier tracking loop was modeled as a feedfoward and a feedback loop system. In the phase tracking loop, it was shown that the tracking error caused by the dynamic motion of the vehicle can be compensated with the aiding of the INS information irrespective of the loop order and bandwidth. However, the signal trcking error increases as the INS error increases. It was also shown that in order to remove the tracking error caused by INS bias error, more than or equal to 2nd order PLL should be used. Experiments were carried out and the experimental results were compared with the analysis results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.2
• /
• pp.285-289
• /
• 2006

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.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.97-97
• /
• 2000

In this paper, a signal processing algorithm for software GPS receiver is proposed. The signal processor takes snapshot of the sampled If signal from the RF section of the GPS receiver. All the processing for code and carrier tracking and correlation are implemented using the digital signal processing techniques. In order to achieve fast code acquisition, correlation of the incoming GPS signal is performed using the FFT method, After code acquisition, to reduce the Doppler shift effect and increase the accuracy, the interpolation or the tracking are performed. The performance of the proposed processing algorithm is first evaluated using matlab/simulink. A signal acquisition board for sampling and logging GPS IF signal form the Mitel GPS RF chip set is constructed. In order to analyze the performance of the designed algorithm the experiments are performed and the results are analyzed.