• Journal of Information Technology Applications and Management
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• v.13 no.4
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• pp.57-70
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• 2006

Location Based Service (LBS) provides high-value added service to users and various works about IBS have been actively performed. The core technology or LBS is positioning of the users. In the field of positioning, outdoor positioning and indoor positioning are developed separately. We are proposing a design of an outdoor-indoor positioning system, implementing a prototype of the system, and verifying the usefulness of the system through experiments. Our experimental results shows that the average error of our system is 4.8 m in the case of out-door positioning and it is 3.3 m in the case of in-door positioning.

• ETRI Journal
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• v.30 no.1
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• pp.59-67
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• 2008

The necessity for the precise time synchronization of measurement data from multiple sensors is widely recognized in the field of global positioning system/inertial navigation system (GPS/INS) integration. Having precise time synchronization is critical for achieving high data fusion performance. The limitations and advantages of various time synchronization scenarios and existing solutions are investigated in this paper. A criterion for evaluating synchronization accuracy requirements is derived on the basis of a comparison of the Kalman filter innovation series and the platform dynamics. An innovative time synchronization solution using a counter and two latching registers is proposed. The proposed solution has been implemented with off-the-shelf components and tested. The resolution and accuracy analysis shows that the proposed solution can achieve a time synchronization accuracy of 0.1 ms if INS can provide a hard-wired timing signal. A synchronization accuracy of 2 ms was achieved when the test system was used to synchronize a low-grade micro-electromechanical inertial measurement unit (IMU), which has only an RS-232 data output interface.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.8-12
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• 2005

The positioning system for an ultra precision machine tool must be accurate to the order of a nanometer. Various feed drive devices have been proposed to achieve this resolution; currently, most attention is directed towards hydrostatic lead screws and friction drives. It has been reported that a positioning resolution accurate to an angstrom can be achieved using a twist-roller friction drive. Therefore, we manufactured an ultra precision positioning system driven by a twist-roller friction drive and assessed its performance when defining problems and finding solutions. Our study showed that the twist-roller friction drive is mechanically suitable for ultra precision positioning, but some considerations are required to obtain a higher resolution.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.962-967
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• 2006

Indoor positioning is highlighted recently, and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are classified into time-based and angle-based one. This paper presents the error analysis of time-based and angle-based location methods. Because measurements of these methods are nonlinear, linearizations are needed in both cases to estimate the user position. In the linearization, Gauss-Newton method is used in both cases. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.550-557
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• 2001

There are several applications and error analysis methods using GPS(Global Positioning System) In most analysis positioning and timing errors are represented as the multiplication of DOP(Dilution Of Precision) and measurement errors, which are affected by the receiver and measurement type. Therefore, lots of DOPs are defined and used to analyze and predict the performance of positioning and timing systems. In this paper, the relationships between these DOPs are investigated in detail, The relationships between GDOP(Geometric DOP), PDOP(Position DOP) and TDOP(Time DOP) in the absolute positioning are de-rived. Using these relationships, the affect of clock bias is analyzed. The relationships between RGDOP(Relative DOP) and PDOP are also derived in relative positioning where the single difference and double dif-ference techniques are used. From the results, it is expected that using the common clock will give better performance when the single difference technique is used while the effects of clock is eliminate when the double difference technique is used. Finally, the error analyses of dual frequency receivers show that the narrow lane measurements give more accurate results than wide line of or L1. L2 independent measurements.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1240-1247
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• 2011

The localization of mobile robot in environment is a major concern in mobile robot navigation. So, many kinds of localization techniques have been researched for several years. Among them, the positioning system using ultrasound has received attention. Most of these ultrasonic positioning systems to synchronize the transmitters and receivers are used for RF (Radio Frequencies). However, due to the use of RF, the interference problems can not be avoided and the performance of radio frequencies directly affects the positioning performance. So we proposed the ultrasonic positioning system without synchronizing RF. The proposed system is based on existing USAT (Ultrasonic Satellite System) adopted infrastructure transmitting type, and consists of transmitter and receiver synchronizing modules instead of the radio frequency transmitters and receiver. The ultrasonic transmitters and receivers are synchronized individually by the transmitter and receiver synchronizing modules. In order to calculate the bias between the transmitter and receiver synchronizing modules, new positioning algorithm similar to GPS was proposed. The positioning performance of the improved USAT without synchronizing RF and the validity of the proposed positioning algorithm are verified and evaluated by experiments.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.100-111
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• 2013

Indoor real-time positioning for multiple targets is required to realize human-robot symbiosis. This study firstly presents positioning accuracy on an autonomous mobile robot controlled by 3-D coordinates that is obtained by a real-time indoor positioning system with spread spectrum (SS) ultrasonic signals communicated by code-division multiple access. Although many positioning systems have been investigated, the positioning system with the SS ultrasonic signals can measure identified multiple 3-D positions in every 70 ms with noise tolerance and error within 100 mm. This system is also robust to occlusion and environmental changes. However, thus far, the positioning errors in an autonomous mobile robot, controlled by these systems using the SS ultrasonic signals, have not been evaluated as an experimental study. Therefore, a positioning experiment for trajectory control is conducted using an autonomous mobile robot and our positioning system. The effectiveness of this positioning method for robot self-localization is shown, from this experiment, because the average control error between the target position and the robot's position at 29 mm is obtained.

• Journal of Korean Society for Quality Management
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• v.51 no.4
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• pp.619-632
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• 2023

Purpose: The main function of INS (Inertial Navigation System) is to measure the position of an armed vehicle and its performance is confirmed through the positioning accuracy test of Korean Defense Standards (KDS). The current standards, however, do not provide clear test methods and the conditions for performing positioning accuracy tests. Accordingly, the purpose of this study is to develop a new method for positioning accuracy test which would be effective. Methods: In this study, a new INS positioning accuracy test method is suggested based on the analysis of test data collected through a statistical experiment known as central composite design. For the positioning accuracy experiment of K105A1, a self-propelled artillery, two factors of driving velocity and driving distance are considered. Results: Based on the analysis of experimental data, a regression model for the positioning error is fitted and the positioning accuracy test of INS is so developed to maximize the positioning error. The standard proximity rate is used as an additional test criterion to evaluate the performance level of INS. Conclusion: The proposed new positioning accuracy test for INS has the advantage of finding the nonconforming items effectively. It is also expected to be utilized for the other similar INS positioning accuracy tests.

• Journal of Positioning, Navigation, and Timing
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• v.5 no.3
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• pp.145-156
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• 2016

A variety of methods for indoor positioning systems have been underway to ensure the safety of emergency rescuers who are working in dangerous situations such as fire fighters. However, since most systems display locations of rescue workers in two-dimension (2D)-based maps, it is difficult for a commander located in the outside to recognize locations of rescuers inside the building intuitively. An augmented reality (AR)-based indoor positioning monitoring system can display locations of rescuer inside the building that can be seen by commanders to help intuitive recognition of positioning. To monitor AR-based indoor positioning, it is necessary to have an estimation technique of line of sight vector of observers. In the present study, an estimation technique of a line of sight vector using ultra-wide band tranceiver installed inside the indoor to trace locations is presented.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.1
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• pp.35-41
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• 2017

Precise Point Positioning (PPP) method is based on dual-frequency data of Global Navigation Satellite Systems (GNSS). The recent multi-constellations GNSS (multi-GNSS) enable us to bring great opportunities for enhanced precise positioning, navigation, and timing. In the paper, the multi-GNSS PPP with a combination of four systems (GPS, GLONASS, Galileo, and BeiDou) is analyzed to evaluate the improvement on positioning accuracy and convergence time. GNSS observations obtained from DAEJ reference station in South Korea are processed with both the multi-GNSS PPP and the GPS-only PPP. The performance of multi-GNSS PPP is not dramatically improved when compared to that of GPS only PPP. Its performance could be affected by the orbit errors of BeiDou geostationary satellites. However, multi-GNSS PPP can significantly improve the convergence speed of GPS-only PPP in terms of position accuracy.