• International Journal of Internet, Broadcasting and Communication
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• 제13권1호
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• pp.134-142
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• 2021

This paper proposes a probabilistic method in analyzing timing measurements to determine the periodicity of real-time tasks. The proposed method fills a gap in existing techniques, which either concentrate on the estimation of worst-case execution times, or do not consider the stochastic behavior of the real-time scheduler. Our method is based on the Z-test statistical analysis which calculates the probability of the measured period to fall within a user-defined standard deviation limit. The distribution of the measured period should satisfy two conditions: its center (statistical mean) should be equal to the scheduled period of the real-time task, and that it should be symmetrical with most of the samples focused on the center. To ensure that these requirements are met, a data adjustment process, which omits any outliers in the expense of accuracy, is presented. Then, the Z-score of the distribution according to the user-defined deviation limit provides a probability which determines the periodicity of the real-time task. Experiments are conducted to analyze the timing measurements of real-time tasks based on real-time Linux extensions of Xenomai and RT-Preempt. The results indicate that the proposed method is able to provide easier interpretation of the periodicity of real-time tasks which are valuable especially in comparing the performance of various real-time systems.

• Journal of Positioning, Navigation, and Timing
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• 제11권4호
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• pp.297-304
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• 2022

The models used for ionosphere error correction in positioning using Global Navigation Satellite System (GNSS) are representatively Klobuchar model and NeQuick model. Although these models can correct the ionosphere error in real time, the disadvantage is that the accuracy is only 50-60%. In this study, a method for polynomial modeling of Global Ionosphere Map (GIM) which provides Vertical Total Electron Content (VTEC) in grid type was studied. In consideration of Ionosphere Pierce Points (IPP) of satellites with a receivable elevation angle of 15 degrees or higher on the Korean Peninsula, the target area for model generation and provision was selected, and the VTEC at 88 GIM grid points was modeled as a polynomial. The developed VTEC polynomial model shows a data reduction rate of 72.7% compared to GIM regardless of the number of visible satellites, and a data reduction rate of more than 90% compared to the Slant Total Electron Content (STEC) polynomial model when there are more than 10 visible satellites. This VTEC polynomial model has a maximum absolute error of 2.4 Total Electron Content Unit (TECU) and a maximum relative error of 9.9% with the actual GIM. Therefore, it is expected that the amount of data can be drastically reduced by providing the predicted GIM or real-time grid type VTEC model as the parameters of the polynomial model.

• Journal of Positioning, Navigation, and Timing
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• 제11권4호
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• pp.269-277
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• 2022

In this paper, we overview the system development status of the national maritime precise point positioning-real-time kinematic (PPP-RTK) service in Korea, also known as the Precise POsitioning and INTegrity monitoring (POINT) system. The development of the POINT service began in 2020, and the open service is scheduled to start in 2025. The architecture of the POINT system is composed of three provider-side facilities-a reference station, monitoring station, and central control station-and one user-side receiver platform. Here, we propose the detailed functionality of each component considering unidirectional broadcasting of augmentation data. To meet the centimeter-level user positioning accuracy in maritime coverage, new reference stations were installed. Each reference station operates with a dual receiver and dual antenna to reduce the risk of malfunctioning, which can deteriorate the availability of the POINT service. The initial experimental results of a testbed from corrections generated from the testbed network, including newly installed reference stations, are presented. The results show that the horizontal and vertical accuracies satisfy 2.63 cm and 5.77 cm, respectively. For the purpose of (near) real-time broadcasting of POINT correction data, we designed a correction message format including satellite orbit, satellite clock, satellite signal bias, ionospheric delay, tropospheric delay, and coordinate transformation parameters. The (near) real-time experimental setup utilizing (near) real-time processing of testbed network data and the designed message format are proposed for future testing and verification of the system.

• Journal of Positioning, Navigation, and Timing
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• 제11권4호
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• pp.351-360
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• 2022

Autonomous vehicles require precise knowledge of their position, velocity and orientation in all weather and traffic conditions in any time. And, these information is effectively used for path planning, perception, and control that are key factors for safety of vehicle driving. For this purpose, a high precision GNSS technology is widely adopted in autonomous vehicles as a core localization and navigation method. However, due to the lack of infrastructure as well as cost issue regarding GNSS correction data communication, only a few high precision GNSS technology will be available for future commercial autonomous vehicles. Recently, a high precision GNSS sensor that is based on a Broadcast-RTK system to dramatically reduce network maintenance cost by utilizing the existing broadcasting network is released. In this paper, we present the performance test result of the broadcast-RTK-based commercial high precision GNSS receiver to test the feasibility of the system for autonomous driving in Korea. Massive measurement campaigns covering of Korea region were performed, and the obtained measurements were analyzed in terms of ambiguity fixing rate, integer ambiguity loss recovery, time to retry ambiguity fixing, average correction information update rate as well as accuracy in comparison to other high precision systems.

• Journal of Positioning, Navigation, and Timing
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• 제11권4호
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• pp.333-339
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• 2022

The satellite navigation system was developed for the purpose of calculating the location of local users, starting with the Global Positioning System (GPS) in the 1980s. Advanced countries in the space industry are operating Global Navigation Satellite System (GNSS) that covers the entire earth, such as GPS, GLONASS, Galileo, and BeiDou, by establishing satellite navigation systems for each country. Regional Navigation Satellite Systems (RNSS) such as QZSS and NavIC are also in operation. In the early 2010s, only GPS and GLONASS could calculate location using a single system for location determination. After 2016, the EU and China also completed the establishment of GNSS such as Galileo and BeiDou. As a result, satellite navigation users can benefit from improved availability of GNSS. In addition, before Galileo and BeiDou's Full Operational Capability (FOC) declaration, they used combined navigation algorithms to calculate the user's location by adding another satellite navigation system to the GPS satellites. Recently, it may be possible to calculate a user's location for each navigation system using the resources of a single system. In this paper, we evaluated the performance of single system navigation and combined navigation solutions of GPS, GLONASS, Galileo, BeiDou and QZSS individual navigation systems using high-performance GNSS receivers.

• Journal of Positioning, Navigation, and Timing
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• 제10권2호
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• pp.75-82
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• 2021

Fields of high-precision positioning applications are growing fast across the mass market worldwide. Accordingly, the industry is focusing on developing methods of applying State-Space Representation (SSR) corrections on low-cost GNSS receivers. Among SSR correction types, this paper analyzes Safe Position Augmentation for Real Time Navigation (SPARTN) messages being offered by the SAfe and Precise CORrection DAta (SAPCORDA) company and validates positioning algorithms based on them. The first part of this paper introduces the SPARTN format in detail. Then, procedures on how to apply Basic-Precision Atmosphere Correction (BPAC) and High-Precision Atmosphere Correction (HPAC) messages are described. BPAC and HPAC messages are used for correcting satellite clock errors, satellite orbit errors, satellite signal biases and also ionospheric and tropospheric delays. Accuracies of positioning algorithms utilizing SPARTN messages were validated with two types of positioning strategies: Code-PPP using GPS pseudorange measurements and PPP-RTK including carrier phase measurements. In these performance checkups, only single-frequency measurements have been used and integer ambiguities were estimated as float numbers instead of fixed integers. The result shows that, with BPAC and HPAC corrections, the horizontal accuracy is 46% and 63% higher, respectively, compared to that obtained without application of SPARTN corrections. Also, the average horizontal and vertical RMSE values with HPAC are 17 cm and 27 cm, respectively.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.243-251
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• 2021

Real-Time Kinematic (RTK) is a phase-based differential GNSS technique and uses additional observations from permanent reference stations to mitigate or eliminate effects like atmospheric delays or satellite clocks and orbit errors. In particular, as the position accuracy required in the fields of autonomous vehicles and drones is gradually increasing, the demand for RTK-based precise navigation that can provide cm-level position is increasing. Recently, with the rapid growth of the open-source software market, the use of open-source software for building navigation system of unmanned vehicles, which is difficult to mount an expensive GNSS receivers, is gradually increasing. RTKLIB is an open-source software package that can perform RTK positioning and is widely used for research and education purposes. However, since the performance and stability of RTK algorithm of RTKLIB is inevitably inferior to that of commercial GNSS receivers, users need to verify whether RTKLIB can satisfy the navigation performance requirements of unmanned vehicles. Therefore, in this paper, the performance evaluation of the RTK positioning algorithm of RTKLIB was performed using GNSS observation data acquired in a dynamic environment. Therefore, in this paper, the RTK positioning performance of RTKLIB was evaluated using GNSS observation data acquired in a dynamic environment. Our results show that the current RTK algorithm of RTKLIB is not suitable for precise navigation of unmanned vehicles.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.263-269
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• 2021

The carrier-based differential global navigation satellite system (CD-GNSS) has been garnering significant attention as a promising technology for unmanned vehicles for its high accuracy. The CD-GNSS systems to be used for safety-critical applications should provide a certain level of integrity. The integrity of these systems must be analyzed under various conditions, including fault-free and satellite fault conditions. The systems should be able to detect the faults that can cause large biases on the user position errors and quantify the integrity risk by computing the protection level (PL) to protect the user against the faults that are left undetected. Prior work has derived and investigated the PL for the fault-free condition. In this study, the integrity of the CD-GNSS system under the fault condition is analyzed. The position errors caused by the satellite's fault are compared with the fault-free PL (PL_H0) to verify whether the integrity requirement can be met without computing the PLs for the fault conditions. The simulations are conducted by assuming the ephemeris fault, and the position errors are evaluated by changing the size of the ephemeris faults that missed detection. It was confirmed that the existing fault monitors do not guarantee that the position error under the fault condition does not exceed the PL_H0. Further, the impact of the faults on the position errors is discussed.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.129-140
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• 2023

Autonomous driving systems are likely to be operated in various complex environments. However, the well-known integrated Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), which is currently the major source for absolute position information, still has difficulties in accurate positioning in harsh signal environments such as urban canyons. To overcome these difficulties, integrated Visual/Inertial/GNSS (VIG) navigation systems have been extensively studied in various areas. Recently, a Compressed-State Constraint Kalman Filter (CSCKF)-based VIG navigation system (CSCKF-VIG) using a monocular camera, an Inertial Measurement Unit (IMU), and GNSS receivers has been studied with the aim of providing robust and accurate position information in urban areas. For this new filter-based navigation system, on the basis of time-propagation measurement fusion theory, unnecessary camera states are not required in the system state. This paper presents a performance evaluation of the CSCKF-VIG system compared to other conventional navigation systems. First, the CSCKF-VIG is introduced in detail compared to the well-known Multi-State Constraint Kalman Filter (MSCKF). The CSCKF-VIG system is then evaluated by a field experiment in different GNSS availability situations. The results show that accuracy is improved in the GNSS-degraded environment compared to that of the conventional systems.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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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.