• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.941-946
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• 2011

The Loran-C, a radio navigation system based on TDOA measurements is enhanced to eLoran using TOA measurements instead of TDOA measurements. Many error factors such as PF, SF, ASF, clock errors and unknown biases are included in eLoran TOA measurements. Because these error factors can cause failure in eLoran navigation algorithm, these errors must be compensated for high accuracy eLoran navigation results. Compensation of ASF and unknown biases are difficult to calculate, while the others such as PF and SF are relatively easy to eliminate. In order to compensate all errors in eLoran TOA measurements, a simple GPS aided bias compensation method is suggested in this paper. This method calculates the bias as the difference of TOA measurement and the range between eLoran transmitters and the receiver whose position is determined using GPS. The real data measured in Europe are used for verification of suggested method and navigation algorithm.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.2
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• pp.77-85
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• 2013

this study examined hybrid Time of Arrival/Angle of Arrival (TOA/AOA) localization technique in a cellular network. Based on the linearized equations from the TOA and AOA measurements, the weighted least square (WLS) method is proposed to obtain the location estimation of a mobile station (MS) by analyzing the statistical properties of the error vector in Line of Sight (LOS) and Non-line of Sight (NLOS) environments, respectively. Moreover, the precise expression of the Cramer-Rao lower bound (CRLB) for hybrid TOA/AOA measurements in different LOS/NLOS conditions was derived when the LOS error is a Gaussian variable and the NLOS error is an exponential variable. The idea of cooperative localization is proposed based on the additional information from short-range communication among the MSs in fourth generation (4G) cellular networks. Therefore, the proposed hybrid TOA/AOA WLS method can be improved further with the cooperative scheme. The simulation results show that the hybrid TOA/AOA method has better performance than the TOA only method, particularly when the AOA measurements are accurate. Moreover, the performance of the hybrid TOA/AOA method can be improved further by the cooperative scheme.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.63-68
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• 2009

The location of mobile terminals in cellular networks is an important problem in the field of information technology with applications in resource allocation, location sensitive browsing, and emergency communications. Finding location estimation techniques that are robust to non-line of light (NLOS) propagation is a key problem in this area. Time of arrival (TOA) and pattern matching (PM) measurements can be made simultaneously by CDMA cellular networks at low cost. The different sources of errors for each measurement type cause TOA and PM measurements to contain independent information about mobile station (MS) locations. This paper combines the information of PM and TOA measurements to calculate a superior location estimate. The proposed location estimator is robust, provides lower error than the estimators based on the individual measurements, and has low implementation costs.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.12
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• pp.3166-3181
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• 2012

Localization of mobile station (MS) has now gained considerable attention. Since the hybrid measurements can help to improve the positioning accuracy, several hybrid localization methods have been proposed in the literature. However, the high performance estimator with the closed-form solution and complete performance analysis for time-of-arrival/signal strength (TOA/SS) localization technique is still an opening issue. Two TOA/SS localization algorithms with the closed-form solutions are proposed for the cases with or without uncertainty in the positions of base stations. Furthermore, performance analysis for the TOA/SS localization technique is presented. Both the theoretical variances and Cramer-Rao lower bounds (CRLBs) are derived and the relationship between the cases with or without uncertainty is given. The paper also proves that the TOA/SS scheme has a lower CRLB than the TOA (or SS) scheme. Theoretical analysis and simulations show that the proposed method can reach its CRLB.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.415-421
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• 2009

TOA(time-of-arrival) and TDOA(time-difference-of-arrival) positioning techniques are commonly used in many radio-navigation systems. From the literature, it is known that the position estimate and error covariance matrix of TDOA obtained by GN(Gauss-Newton) method is exactly the same as that of TOA when the error source of the range measurement is only an IID white Gaussian noise. In case of geo-location and indoor positioning, however, multi-path or NLOS(non-line-of-sight) error is frequently appeared in range measurements. Though its occurrence is random, the multipath acts like a bias for a stationary user if it occurs. This paper presents the comparisons of error characteristics between TOA and TDOA positioning in presence of multi-path or NLOS error. It is analytically shown that the position estimate of TDOA is exactly the same as that of TOA even when bias errors are included in range measurements with different magnitudes. By computer simulation, position estimation error and error distribution are analyzed in presence of range bias errors.

• Journal of Navigation and Port Research
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• v.40 no.1
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• pp.15-20
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• 2016

In this study we measured a differential ASF to improve the accuracy of time synchronization with the signal transmitted from Pohang 9930M Loran station. We obtained the differential ASF which is calculated from a difference of the TOA measurements between KRISS and Chungnam National University(CNU), and KRISS and National Maritime PNT Office respectively. The TOA measurement at KRISS was measured by UTC(KRIS) reference clock and other sites were measured by atomic clocks respectively. The time variations of differential ASF measurements at CNU and National Maritime PNT Office were within $0.1{\mu}s$ and $0.05{\mu}s$ respectively. And we found the time variations of $0.1{\mu}s$ depending on the surrounding radio-wave environments from the differential ASF measurements of 60 minute moving averages. We can improve the accuracy of time synchronization of the local clock to within 10 ns by compensating the differential ASF through removing the common component of ASF. And we measured the absolute ASF between the Pohang transmit station and KRISS by the measurement technique of absolute time delay using a cesium atomic clock. The average ASF between two points is about $3.5{\mu}s$.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1176-1181
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• 2010

This paper proposes three positioning algorithms using TOA measurements: 1) The well-known linearization method using Taylor series, 2) a modified Savarese method considering measurement noise, which does not need linearization, and 3) a modified Bancroft method where TOA measurements instead of pseudorange measurements are considered. Furthermore, through an error analysis, for Savarese method, divergence of altitude is anticipated if the transmitters are located at the same height. To prevent height divergence, the Savarese method is modified again for receivers which assumed moving on the even plane. Error analysis also shows the relationship between Bancroft and Savarese method. From the analysis it is expected that the performance of Savarese method is worse than Bancroft method because of error amplification during difference operation. Experiments using real TOA measurement from the time difference of ultra sound and RF validate the proposed methods and show that analysis is correct.

• Korean Journal of Remote Sensing
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• v.16 no.4
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• pp.305-313
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• 2000

A vicarious calibration method was developed for the OSMI sensor calibration. Employing measured aerosol optical thickness by a sunphotometer and a sky radiometer and water leaving radiance by ship measurements as inputs, TOA (top of the atmosphere) radiance at each OSMI band was simulated in conjunction with a radiative transfer model (Rstar5b) by Nakajima and Tanaka (1988). As a case of examining the accuracy of this method, we simulated TOA radiance based on water leaving radiance measured at NASA/MOBY site and aerosol optical thickness estimated nearby at Lanai, and compared simulated results with SeaWiFS-estimated TOA radiances. The difference falls within about $\pm$5%, suggesting that OMSI sensor can be calibrated with the suggested accuracy. In order to apply this method for the OSMI sensor calibration, ground-based sun photometry and ship measurements were carried out off the east coast of Korean peninsula on May 31, 2000. Simulations of TOA radiance by using these measured data as input to the radiative transfer model show that there are substantial differences between simulated and OSMI-estimated radiances. Such a discrepancy appears to be mainly due to the cloud contamination because satellite image indicates optically thin clouds over the experimental area. Nevertheless results suggest that sensor calibration can be achieved within 5% uncertainty range if there are ground-based measurements of aerosol optical thickness, and water leaving radiances under clear-sky and optically thin atmospheric conditions.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.2
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• pp.61-71
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• 2018

Existing radio positioning systems have a drawback that the attitude of user's tag is difficult to be determined. Although forward link angle of arrival (FLAOA) technology that uses measurements of array antenna arranged in a tag among the angle of arrival (AOA) technologies can estimate attitude and positioning of tags, it cannot extend the estimated results into three-dimensional (3D) results due to complex non-linear model displayed because of the effects of 3D positioning and attitude in tags. This paper proposed a radio navigation technique that determines 3D attitude and positioning via FLAOA / time of arrival (TOA) integration. According to the order of determining attitude and positioning, two integration techniques were proposed. To analyze the performance of the proposed technique, MATLAB-based simulations were used to verify the performance. The simulation results showed that the first proposed method, TOA-FLAOA integrated technique, showed about 0.15 m of positioning error, and $2-3^{\circ}$ of attitude error performances regardless of the positioning space size whereas the second method, differenced FLAOA-TOA integrated technique, revealed a problem that a positioning error became larger as the size of the positioning space became larger.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.226-231
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• 2020

In order to maximize the production of landscape plants in optimal condition while coexisting with the environment in terms of precision agriculture, quick and accurate information gathering of the internal environmental elements of the growing container is necessary. This may depend on the accuracy of the positioning of numerous sensors connected to landscape plants cultivating system (LPCS) in containers. Thus, this paper presents a method for estimating the location of the sensors related to cultivation environment connected to LPCS by measuring the received signal strength (RSS) or time of arrival TOA received between oneself and adjacent sensors. The Small sensors connected to the LPCS of container are known for their locations, but the remaining locations must be estimated. For this in the paper, Rao-Cramer limits and maximum likelihood estimators are derived from Gaussian models and lognormal models for TOA and RSS measurements, respectively. As a result, this study suggests that both RSS and TOA range measurements can produce estimates of the exact locations of the cultivation environment sensors within the wireless sensor network related to the LPCS.