• Journal of Positioning, Navigation, and Timing
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• 제7권4호
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• pp.235-243
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• 2018

Conventional Real Time Kinematics (RTK) collect measurements in stationary state for several minutes to resolve the integer ambiguity in the carrier phase measurement or resolve the integer ambiguity on the move assuming low maneuvering movement. In this paper, an On The Move-RTK (OTM-RTK) technique that resolves the integer ambiguity on the move for fast and precise positioning of ground vehicles such as high maneuvering vehicles was proposed. The OTM-RTK estimates the precise amount of movement between epochs using the carrier phase measurements acquired on the move, and by using this, resolves the integer ambiguity within a short period of time by evaluating the integer ambiguity candidates for each epoch. This study analyzed the integer ambiguity resolution performance using field driving experiment data in order to verify the performance of the proposed method. The results of the experiment showed that the precise trajectory including the initial position bias can be obtained prior to resolving the integer ambiguity, and after resolving the integer ambiguity on the move, it was possible to obtain the bias-corrected precise position solution. It was confirmed that the integer ambiguity can be resolved by collecting measurements of about 10 epochs from the moving vehicle using a dual frequency receiver.

• Journal of Astronomy and Space Sciences
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• 제33권1호
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• pp.45-54
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• 2016

This study developed an approach for improving Carrier-phase Differential Global Positioning System (CDGPS) based realtime satellite relative navigation by applying laser baseline measurement data. The robustness against the space operational environment was considered, and a Synthetic Wavelength Interferometer (SWI) algorithm based on a femtosecond laser measurement model was developed. The phase differences between two laser wavelengths were combined to measure precise distance. Generated laser data were used to improve estimation accuracy for the float ambiguity of CDGPS data. Relative navigation simulations in real-time were performed using the extended Kalman filter algorithm. The GPS and laser-combined relative navigation accuracy was compared with GPS-only relative navigation solutions to determine the impact of laser data on relative navigation. In numerical simulations, the success rate of integer ambiguity resolution increased when laser data was added to GPS data. The relative navigational errors also improved five-fold and two-fold, relative to the GPS-only error, for 250 m and 5 km initial relative distances, respectively. The methodology developed in this study is suitable for application to future satellite formation-flying missions.

• 한국측량학회지
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• 제22권3호
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• pp.217-223
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• 2004

실시간 측위 정확도 향상을 위해 많은 방법들이 수행되고 있다. 그 중에 하나가 위상 데이터를 처리함으로써 정밀한 위치 해를 제공해 주는 Inverted RTK(Real-time kinematic)이다. Inverted RTK 측위를 위해서는 최소 1～2분 정도의 1Hz 관측 데이터와 부가적으로 여러 상시 관측소 및 통신 시스템 그리고 데이터 프로세싱 서버가 필요하다. 실시간 응용을 위해서 L1 코드와 반송파 위상 데이터가 동시에 사용되었으며 모호 정수 추정을 위해 칼만 필터를 사용하였다. 또한 이중 차분된 참 모호 정수는 FARA(Fast Ambiguity Resolution Approach)를 이용하여 결정하였다. 본 연구에서는 다양한 기선에 대한 필드 테스트 수행 결과를 제시하였다.

• 한국항공우주학회지
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• 제40권12호
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• pp.1048-1054
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• 2012

본 논문은 동적환경의 GPS RTK (Global Positioning System Real Time Kinematic) 수행을 위한 반송파 고장검출에 대해 기술한다. 다양한 고장요소에 노출된 동적수신환경에서 신뢰성 높은 반송파를 확보하기 위해 신호변화 요인을 분리하여 이상 유/무를 판별하는 기법을 사용하였다. 신호변화 요소는 사용자 다이나믹, 위성 다이나믹, 오차요인으로 분리하였으며, 상대적으로 불규칙한 사용자 다이나믹 추정 성능 향상을 위해 미지정수가 소거된 시간차분 반송파와 도플러를 혼합하여 사용하였다. 시뮬레이션을 통해 제안한 검출 기법의 성능을 검증하였으며, 임펄스, 스텝, 램프 고장에 대한 검출 가능성을 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1675-1678
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• 1997

In this paper, an attitude determination system(ADS) for KOMPSAT using GPS LI carrier phase measurements is considered. The baseline vector is estimated by the Exetnded Kalman Filter (EKF) which used the double differenced carrier phased measuremenmts made by three GPS receivers mounted on the spaceraft. The attitude angles of three axes of spacecrat are computed by the estimated baseline vectors, directly. The proposed ADS is verified by the simulation results.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회B
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• pp.2720-2724
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• 2007

Field measurements have revealed that the pressure drop over a borehole during drilling of a slim oil well or a well with a long reach can depend significantly on the rotation speed of the drill pipe. An accurate prediction of the annular frictional pressure drop is therefore important for conditions where the annular clearance is small. An experimental study was carried out to study solid-liquid two phase flow in a slim hole annulus. Annular velocities of carrier fluids varied from 0.2 m/s to 1.5 m/s. The carrier fluids which were utilized included tap water and CMC water solutions. Pressure drops and average flow rates were measured for the parameters such as inner-pipe rotary speed, carrier fluid velocity, hole inclination and particle injection rate. For both water and CMC solutions, the higher the concentration of the solid particles is, the larger the pressure gradients become.

• Journal of Positioning, Navigation, and Timing
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• 제4권1호
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• pp.25-31
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• 2015

In this paper, we described the timing-offset comparison results between various daily jump compensation methods for GPS carrier phase (CP) measurement data. For the performance comparison, we used about 70 days GPS measurement data obtained from two GPS geodetic receivers which share the reference 1 PPS and RF signals and closely located in each other within a few meters. From the experiment results, the followings were observed. First, daily jumps existed in CP measurements depend on not only the environment but also the receiver which will make a full compensation be very hard or impossible. Second, clock bias can be occurred in the case of using a simple compensation with accumulation of daily jumps but it could be used in a short-period frequency comparison campaign (less than about 7 days) despite of its drawback.

• 한국항공우주학회지
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• 제30권8호
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• pp.78-86
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• 2002

GPS 반송파 위상관측값은 미지정수를 포함하고 있어 이를 효과적으로 해결하기 위해 분산-공분산 행렬의 비상관화 과정이 필요하다. 본 논문에서는 새로운 미지정수 비상관화 방법을 제시하고자 한다. 이 방법은 분산-공분산 행렬을 유사한 크기의 작은 4개 블록으로 나눈 다음 각 블록을 독립적으로 비상관화 하는 것이다. 각 블록의 비상관화는 전 단계의 결과가 다음 단계의 과정에 영향을 받지 않도록 귀납적으로 이루어진다. 임의로 선정된 몇가지 수치적 예시에 의하면 이 방법은 기존의 다른 방법보다 좋거나 유사한 결과를 보여 주지만, 분산-공분산 행렬의 작은 블록에서 계산이 이루어지므로 본 방법의 계산 속도가 상대적으로 빠르다.

• 제어로봇시스템학회논문지
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• 제11권7호
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• pp.644-650
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• 2005

The expected positioning accuracies of civil users utilizing modernized GPS and Galileo are derived using the error analysis in this paper. Since, in general, the performance of DLL, PLL and FLL is proportional to chip lengths and wavelengths, the positioning accuracies from various measurements of modernized GPS and Galileo are derived as function of chip length and wavelength. These results are compared with that from GPS Ll measurement. In absolute positioning, compared to GPS C/A code only case, more than 17 times performance improvement is expected when all civil code signals of modernized GPS and Galileo (L1, L2, L5, E1, E5A and E5B) are used. In relative positioning, compared to GPS L1 carrier phase only case, more than 2 times performance improvement is expected when all civil signals of modernized GPS and Calileo are used. Furthermore, the relationship between GDOP and RGDOP in single frequency case is expanded to general case where multiple frequencies and both code and carrier phase measurements are used.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.186-186
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• 2000

In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors in the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GPS receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search grace is drastically reduced to about 3120 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.