• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.5
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• pp.1317-1340
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• 2024

With the rapid development of information technology, people's demands on precise indoor positioning are increasing. Wireless sensor network, as the most commonly used indoor positioning sensor, performs a vital part for precise indoor positioning. However, in indoor positioning, obstacles and other uncontrollable factors make the localization precision not very accurate. Ultra-wide band (UWB) can achieve high precision centimeter-level positioning capability. Inertial navigation system (INS), which is a totally independent system of guidance, has high positioning accuracy. The combination of UWB and INS can not only decrease the impact of non-line-of-sight (NLOS) on localization, but also solve the accumulated error problem of inertial navigation system. In the paper, a fused UWB and INS positioning method is presented. The UWB data is firstly clustered using the Fuzzy C-means (FCM). And the Z hypothesis testing is proposed to determine whether there is a NLOS distance on a link where a beacon node is located. If there is, then the beacon node is removed, and conversely used to localize the mobile node using Least Squares localization. When the number of remaining beacon nodes is less than three, a robust extended Kalman filter with M-estimation would be utilized for localizing mobile nodes. The UWB is merged with the INS data by using the extended Kalman filter to acquire the final location estimate. Simulation and experimental results indicate that the proposed method has superior localization precision in comparison with the current algorithms.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.1
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• pp.85-92
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• 2024

This study develops a Global Positioning System (GPS) Code Multipath Grid Map (CMGM) of each individual domestic reference station from the extracted code multipath of measurement data. Multipath corresponds to signal reflection/refraction caused by obstacles around the receiver antenna, and it is a major source of error that cannot be eliminated by differencing. From the receiver-independent exchange format (RINEX) data for two days, the associated code multipath of a satellite tracking arc is extracted. These code multipath data go through bias correction and interpolation to yield the CMGM with respect to the azimuth and elevation angles. The effect of the CMGM on multipath mitigation is then quantitatively analyzed to improve the Root Mean Square (RMS) of averaged pseudo multipath. Furthermore, the single point positioning (SPP) accuracy is analyzed in terms of the RMS of the horizontal and vertical errors. During two weeks in February 2023, the RMSs of the averaged pseudo multipath for five reference stations decreased by about 40% on average after CMGM application. Also, the SPP accuracies increased by about 7% for horizontal errors and about 10% for vertical errors on average after CMGM application. The overall quantitative analysis indicates that the proposed approach will reduce the convergence time of Differential Global Navigation Satellite System (DGNSS), Real-Time Kinematic (RTK), and Precise Point Positioning (PPP)-RTK correction information in real-time to use measurement data whose code multipath is corrected and mitigated by the CMGM.

• Korean Journal of Geomatics
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• v.2 no.1
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• pp.31-35
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• 2002

This paper describes an experiment for three-dimensional positioning for a pair of KOMPSAT stereostrips using the ancillary data and a single ground control point. The photogrammetric model for three-dimensional positioning was performed as follows: first, initialization of orbital and attitude parameters derived from ancillary data; second, adjustment of orbital and attitude parameters for the satellite to minimize the ground position error with respect to a GCP using the collinearity condition; third, determination of actual satellite position; and lastly, space intersection. This model was tested for a pair of stereo strips with 0.6 base-to-height ratio and GCPs identified from a 1:5,000 scale digital map. As the result, the satellite position of offset was corrected by only one GCP and the accuracy for the geometric modeling showed 38.89m RMSE.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.131-138
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• 2020

In this paper, we analyze the delay phenomenon that can occur when controlling an unmanned aerial vehicle using a camera and describe a solution to solve the phenomenon. The group of pictures (GOP) value is changed in order to reduce the delay according to the frame data size that can occur in the moving image data transmission. The appropriate GOP values were determined through experimental data accumulation and validated through camera self-test, system integration laboratory (SIL) verification test and system integration test.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.181-182
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• 2010

For real-time displacement monitoring of large-scale structures, the high-rate (>1 Hz) GPS data processing is necessary, which is not possible even for the scientific GPS data processing softwares. Since the baseline is generally very short in this case, most of the atmospheric effects are removed, resulting in the unknowns of position and integer ambiguity. The number of unknowns in real-time kinematic GPS positioning makes the positioning impossible with usual approach, thus two-step approach is tested in this study.

• 전기의세계
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• v.17 no.1
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• pp.11-20
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• 1968

A typical type-1 positioning servomechanism is theoretically analyzed as a multirate sampled-data system which contains two or more signals sampled at different rates by the Z-transform method. And also it is analyzed as a continuous system by using the Younsei 101 Electronic Analog Computer. Comparing the solution of the multirate sampled data system with that of the continuous system to a step input, it is concluded that the response time of the output of the multirate sampled-data system is reduced by a multirate controller, the ripple between samples is lessened and all the transients are diminished within one period.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.4
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• pp.295-305
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• 2018

Network RTK is a highly practical technology that can provide high positioning accuracy at levels between cm~dm regardless of user location in the network by extending the available range of RTK using reference station network. In particular, unlike other carrier-based positioning techniques such as PPP, users are able to acquire high-accuracy positions within a short initialization time of a few or tens of seconds, which increases its value as a future navigation system. However, corrections must be continuously received to maintain a high level of positioning accuracy, and when a time delay of more than 30 seconds occurs, the accuracy may be reduced to the code-based positioning level of meters. In case of SSR, which is currently in the process of standardization for PPP service, the corrections by each error source are transmitted in different transmission intervals, and the rate of change of each correction is transmitted together to compensate the time delay. Using these features of SSR correction is expected to reduce the performance degradation even if users do not receive the network RTK corrections for more than 30 seconds. In this paper, the simulation data were generated from 5 domestic reference stations in Gunwi, Yeongdoek, Daegu, Gimcheon, and Yecheon, and the network RTK and SSR corrections were generated for the corresponding data and applied to the simulation data from Cheongsong reference station, assumed as the user. As a result of the experiment assuming 30 seconds of missing data, the positioning performance compensating for time delay by SSR was analyzed to be horizontal RMS (about 5 cm) and vertical RMS (about 8 cm), and the 95% error was 8.7 cm horizontal and 1cm vertical. This is a significant amount when compared to the horizontal and vertical RMS of 0.3 cm and 0.6 cm, respectively, for Network RTK without time delay for the same data, but is considerably smaller compared to the 0.5 ~ 1 m accuracy level of DGPS or SBAS. Therefore, maintaining Network RTK mode using SSR rather than switching to code-based DGPS or SBAS mode due to failure to receive the network RTK corrections for 30 seconds is considered to be favorable in terms of maintaining position accuracy and recovering performance by quickly resolving the integer ambiguity when the communication channel is recovered.

• Journal of Astronomy and Space Sciences
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• v.32 no.4
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• pp.403-409
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• 2015

The Quasi-Zenith Satellite System (QZSS), a dedicated regional Japanese satellite system currently under development, was designed to complement the performance of the Global Positioning System (GPS). The high elevation angle of the QZSS satellite is expected to enhance the effectiveness of GPS in urban environments. Thus, the work described in this paper, aimed to investigate the effect of QZSS on GPS performance, by processing the GPS and QZSS measurements recorded at the Bohyunsan reference station in South Korea. We used these data, to evaluate the satellite visibility, carrier-to-noise density (C/No), performance of single point positioning, and Dilution of Precision (DOP). The QZSS satellite is currently available over South Korea for 19 hours at an elevation angle of more than 10 degrees. The results showed that the impact of the QZSS on users' vertical positioning is greatest when the satellite is above 80 degrees of elevation. As for Precise Point Positioning (PPP) performance, the combined GPS/QZSS kinematic PPP was found to improve the positioning accuracy compared to the GPS only kinematic PPP.

• Journal of Advanced Navigation Technology
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• v.16 no.5
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• pp.752-759
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• 2012

In this paper, near-real-time positioning accuracies of precise point positioning technique were analyzed using IGS predicted orbits. As a result, we could get the mean errors of 1~1.6 cm, standard deviation of 1~1.3cm from one year of GPS data. This results were similar level to positioning accuracy using the IGS rapid orbits. Positioning errors of >10cm showed 44% of observed days of orbital anomalies. When the orbital anomalies of the predicted orbits were shown, maximum error was 1.7 km, and maximum of mean errors was 308 m. From this study, we conclude that check and consideration were necessary before using the IGS predicted orbits.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.4
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• pp.461-467
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• 2009

Relative positioning technique by GPS that can obtain the high positioning accuracy has been used for generation of high precision positioning with elimination or the reduction of the common errors. This paper gives some algorithms for RTK and considers the filter to estimate the positioning information and integer ambiguities at each epoch in the whole algorithms. The extended kalman filter has been employed to estimate the state parameters and the modified LAMBDA to resolve the integer ambiguities. The data processing was performed by GPS single frequency and dual frequency in short baseline. The verification procedure of these positioning compared with results from Bernese 5.0 software. We presented some statistic values on positioning errors and the rates of integer ambiguity resolution.