• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.425-433
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• 2002

After the removal of SA (Selective Availability), horizontal accuracy of 25m(2dRMS) is easily obtained using GPS (Global Positioning System). In this paper, the error characteristics without SA are analyzed and a navigation algorithm concerns this error characteristics is proposed to further improve the accuracy. The proposed method utilizes the relationship between elevation angle and errors that are remained after ionospheric and troposheric delay compensation. The relationship is derived from real measurements and used as a weighting matrix of weighted least squares estimator. Furthermore, a RAIM (Receiver Autonomous Integrity Monitoring) technique is included to remove abnormal measurements affected by multi-path or low SNR (Signal-to-Noise Ratio). It is shown that using the proposed method, more than 4 times accurate result, which is comparable with DGPS (Differential GPS), can be obtained from experiments with real data. Besides accuracy and reliability, the proposed method reduces large jumps in position and maintains better performance than a method using mask angle to completely remove satellites below this mask angle. Thus it is expected that the proposed method can be efficiently applied to land navigation where some satellites are blocked by building or forest.

• The Korean Journal of Applied Statistics
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• v.22 no.3
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• pp.541-551
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• 2009

Generalized processor sharing(GPS) service policy is a scheduling algorithm to allocate the bandwidth of a queueing system with multi-class input traffic. In a queueing system with single-class traffic, the stationary queue length becomes larger stochastically when the bandwidth (i.e. the service rate) of the system decreases. For a given GPS server, we consider the similar problem to this. We define the monotonicity for the head of the line processor sharing(HLPS) servers in which the units in the heads of the queues are served simultaneously and the bandwidth allocated to each queue are determined by the numbers of units in the queues. GPS is a type of monotonic HLPS. We obtain the HLPS server whose queue length of a class stochastically bounds upper that of corresponding class in the given monotonic HLPS server for all classes. The queue lengths process of all classes in the obtained HLPS server has the stationary distribution of product form. When the given monotonic HLPS server is GPS server, we obtain the explicit form of the stationary queue lengths distribution of the bounding HLPS server. Numerical result shows how tight the stochastic bound is.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1529-1543
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• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1253-1267
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• 2005

Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multi-antenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.2
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• pp.159-165
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• 2024

The Global Navigation Satellite System (GNSS) has been used as a tool to accurately extract the Total Electron Content (TEC) in the ionosphere. The multi-GNSS (GPS, GLONASS, BeiDou, Galileo, and QZSS) constellations bring new opportunities for ionospheric research. In this study, we develop a regional ionospheric TEC model using GPS, Galileo, and QZSS measurements. To develop an ionospheric model covering the Asia-Oceania region, we select 13 International GNSS Service (IGS) stations. The ionospheric model applies the spherical harmonic expansion method and has a spatial resolution of 2.5°×2.5° and a temporal resolution of one hour. GPS TEC, Galileo TEC, and QZSS TEC are investigated from January 1 to January 31, 2024. Different TEC values are in good agreement with each other. In addition, we compare the QZSS(J07) TEC and the Center for Orbit Determination in Europe (CODE) Global Ionosphere Map (GIM) TEC. The results show that the QZSS TEC estimated in the study coincides closely with the CODE GIM TEC.

• Aerospace Engineering and Technology
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• v.4 no.2
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• pp.1-6
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• 2005

In this study, the method to improve positioning accuracy under the multi-DGPS coverage is suggested. the linearly interpolated PRC regenerating algorithm was applied to improve the DGPS positioning accuracy at user's position by using the various PRC information obtained from multi-DGPS reference stations. To test the performance of the suggested method, the RTK-GPS result was used as the reference and the quantitative analysis results of the performance of the developed navigation algorithm are presented.

• ETRI Journal
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• v.29 no.5
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• pp.688-690
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• 2007

This letter presents a filter for a car navigation system integrating a low-grade inertial measurements unit (IMU) and a global positioning system receiver. The filter is designed according to the state variables to be estimated and the usable measurements. The usable measurements change from case to case, and the estimative state variables also change due to the measurements; therefore, multiple models must be used for real environmental maneuvers. In this letter, four models for land navigation are chosen and switched by rearranging the system matrix and resetting the error covariance matrices.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.856-860
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• 2006

A CCD camera is used to determine the position of the point sources that influence the measurement accuracy in the absolute interferometer. The principle of determination method is based on the GPS in which the position is determined by more than 3 distance information from the known positions. Two-dimensional array of photo-detectors in the CCD camera is used as known positions. Performing optimization of the cost function constructed with phase values measured at each pixel on the CCD camera, the position coordinates of each source is precisely determined.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.110-112
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• 2003

The researchers, who seek geological and environmental information, depend on the remote sensing and aerial photographic datum from various commercial satellites and aircraft. However, the adverse weather conditions and the expensive equipment can restrict that the researcher can collect their data anywhere and any time. To allow for better flexibility, we have developed a compact, a multispectral automatic Aerial photographic system. This system's Multi-spectral camera can catch the visible (RGB) and infrared (NIR) bands (3032${\ast}$2008 pixel) image. Our system consists of a thermal infrared camera and automatic balance control, and it managed and controlled by a palm-top computer. And it includes a camera gimbals system, GPS receiver, weather sensor and etc. As a result, we have successfully tested its ability to acquire aerial photography, weather data, as well as GPS data, making it a very flexible tool for environmental data monitoring.

• Journal of Advanced Navigation Technology
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• v.1 no.1
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• pp.23-34
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• 1997

A multi-channel digital GPS receiver has been developed including a RF-to-IF engine (engine 1), a digital signal processing engine (engine 2) with a microprocessor interfacing, and a navigation software. A high speed SiGe heterojunction bipolar transistor (HBT) as a active device has been mounted on chip-on-board (COB) type hybrid ICs such as LNA, mixer, and VCO in RF front-end of the engine 1 board. A 6-channel digital correlator together with a real-time clock and a microprocessor interface has been realized using an Altera Flex 10K FPGA as well as ASIC technology. Navigation software controlling the correlator for GPS signal tracking, retrieval and storing a message retrieval, and position calculation has been implemented. The GPS receiver was tested using a single channel STR2770 simulator. Successful navigation message retrieval and position determination was confirmed.