• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.1
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• pp.49-54
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• 2011

This paper addresses the performance comparisons of the GPS pseudorange and pseudorange rate measurements in the tightly coupled INS/GPS Navigation systems. Even though the two measurements have the same ability in estimating level attitude errors, pseudorange rate has an advantage in improving estimating heading attitude error performance. The performance of pseudorange and pseudorange rate measurements is compared in numerical simulations and van test.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.1
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• pp.51-58
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• 2023

Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.

• Journal of Electrical Engineering and Technology
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• v.7 no.5
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• pp.797-806
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• 2012

Fault detection and isolation (FDI) algorithms provide fault monitoring methods in GPS measurement to isolate abnormal signals from the GPS satellites or the acquired signal in receiver. In order to monitor the occurred faults, FDI generates test statistics and decides the case that is beyond a designed threshold as a fault. For such problem of fault detection and isolation, this paper presents and evaluates position domain integrity monitoring methods by formulating various pseudorange prediction methods and investigating the resulting test statistics. In particular, precise measurements like carrier phase and Doppler rate are employed under the assumption of fault free carrier signal. The presented position domain algorithm contains the following process; first a common pseudorange prediction formula is defined with the proposed variations in pseudorange differential update. Next, a threshold computation is proposed with the test statistics distribution considering the elevation angle. Then, by examining the test statistics, fault detection and isolation is done for each satellite channel. To verify the performance, simulations using the presented fault detection methods are done for an ideal and real fault case, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.114.1-114
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• 2001

GPS Receiver gives pseudorange Doppler and integrated carrier phase for measurements to compute navigation information. Thought the integrated carrier phase can be transfer to the equal domain as pseudorange by multiplying the wave length of the received signal, in order to get position information from the carrier phase measurements the integer ambiguity should be resolved. And differencing technique is generally used to eliminate the common error terms of the integrated carrier phase measurements between robber and server. In short baseline double-differencing operation has effect on elimination the common biases for both stations and thus ambiguity resolution are to be reliable. But the baseline increases, the integer ambiguity resolution is hardly, due to the correlated common error is increase ...

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2433-2435
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• 2000

Inertial Navigation System(INS) provides short-term accurate navigation solution but its error grows with time due to integration characteristics. Meanwhile, Global Positioning System(GPS) provides long-term stable solution but it has poor error characteristics in high dynamic region. So for its synergistic relationship, an integrated INS/GPS systems has been widely used as an advanced navigation system. Generally, two kinds of integration method are used. One is loosely coupled mode which uses GPS-derived position and velocity as measurements in an integrated Kalman filter. The other is tightly coupled one which uses pseudorange and pseudorange rate as Kalman filter measurements. In this paper the system error models and observation models for two kinds of integrated systems are derived, respectively, and their performance are compared through Monte-Carlo simulations.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.179-184
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• 2006

Rapid and high-precision positioning with a Global Navigation Satellite System (GNSS) is feasible only when very precise carrier-phase observations can be used. There are two kinds of mathematical models for ambiguity resolution. The first one is based on both pseudorange and carrier phase measurements, and the observation equations are of full rank. The second one is only based on carrier phase measurement, which is a rank-defect model. Though the former is more commonly used, the latter has its own advantage, that is, ambiguity resolution will be freed from the effects of pseudorange multipath. Galileo will be operational. One of the important differences between Galileo and current GPS is that Galileo will provide signals in four frequency bands. With more carrier-phase data available, frequency combinations with long equivalent wavelength can be formed, so Galileo will provide more opportunities for fast and reliable ambiguity resolution than current GPS. This paper tries to investigate phase only fast ambiguity resolution performance with four Galileo frequencies for short baseline. Cascading Ambiguity Resolution (CAR) method with selected optimal frequency combinations and LAMBDA method are used and compared. To validate the resolution, two tests are used and compared. The first one is a ratio test. The second one is lower bound success-rate test. The simulation test results show that, with LAMBDA method, whether with ratio test or lower bound success rate validation criteria, ambiguity can be fixed in several seconds, 8 seconds at most even when 1 sigma of carrier phase noise is 12 mm. While with CAR method, at least about half minute is required even when 1 sigma of carrier phase noise is 3 mm. It shows that LAMBDA method performs obviously better than CAR method.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.2
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• pp.121-128
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• 2023

When calculating the user's position using satellite signals, the signals originating from the satellite pass through the ionosphere and troposphere to the user. In particular, the ionosphere delay error that occurs when passing through the ionosphere delays when the signal is transmitted, generating a pseudorange error and position error at a large rate. Therefore, to improve position accuracy, it is essential to correct the ionosphere layer error. In a receiver capable of receiving dual frequency, the ionosphere error can be eliminated through a double difference, but in a single frequency receiver, an ionosphere correction model transmitted from a Global Navigation Satellite System (GNSS) satellite is used. The popularly used Klobuchar model is designed to improve performance globally. As such, it does not perform perfectly in the Korea region. In this paper, the characteristics of the delay in the ionosphere in the Korean region are identified through an analysis of 10 years of data, and an improved ionosphere correction model for the Korean region is presented using the widely employed Klobuchar model. Through the proposed model, vertical position error can be improved by up to 40% relative to the original Klobuchar model in the Korea region.

• Journal of Astronomy and Space Sciences
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• v.19 no.2
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• pp.163-172
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• 2002

This article investigates the problem of data preprocessing for the precision orbit determination (POD) of low earth orbit satellite using GPS .aw data. Several data preprocessing algorithms have been developed to edit the GPS data automatically such that outlier deletion, cycle slip identification and correction, and time tag error correction. The GPS data are precisely edited for the accuracy of POD. Some methods of data preprocessing are restricted to the rate of the collections of the pseudorange and carrier phase measurements. This study considers the preprocessing efficiency varied with the rate, the quality of receiver and the altitude of the satellite's orbit. We also propose the proper methods in accordance with the rate for single frequency and dual frequency receivers.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.299-304
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• 2015

This paper introduces development of the MATLAB GUI based software for generating GPS RINEX observation file. The purpose of this software is to generate GPS measurements of reference station or dynamic user, which are similar to the real GPS receiver data, accurately and efficiently. This software includes two data generation modes. One is Precision mode which generates GPS measurements as accurate as possible using post-processing data. The other is Real-time mode which generates GPS measurements using GPS error modeling technique. GPS error sources are calculated on the basis of each data generation mode, and L1/L2 pseudorange, L1/L2 carrier phase, and Doppler measurements are produced. These generated GPS measurements are recorded in the RINEX observation version 3.0 file. Using received GPS data at real reference station, we analyzed three items to verify software reliability; measurement bias, rate of change, and noise level. Consequently, RMS error of measurement bias is about 0.7 m, and this verification results demonstrate that our software can generate relatively exact GPS measurements.