• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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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.

• Structural Engineering and Mechanics
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• v.89 no.6
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• pp.589-599
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• 2024

This study presents the usability of the high-rate single-frequency Precise Point Positioning (SF-PPP) technique based on 20 Hz Global Positioning Systems (GPS)-only observations in detecting dynamic motions. SF-PPP solutions were obtained from post-mission and real-time GNSS corrections. These include the International GNSS Service (IGS)-Final, IGS real-time (RT), real-time MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis), and real-time products from the Australian/New Zealand satellite-based augmentation systems (SBAS, known as SouthPAN). SF-PPP results were compared with LVDT (Linear Variable Differential Transformer) sensor and single-frequency relative positioning (SF-RP) solutions. The findings show that the SF-PPP technique successfully detects the harmonic motions, and the real-time products-based PPP solutions were as accurate as the final post-mission products. In the frequency domain, all GNSS-based methods evaluated in this contribution correctly detect the dominant frequency of short-term harmonic oscillations, while the differences in the amplitude values corresponding to the peak frequency do not exceed 1.1 mm. However, evaluations in the time domain show that SF-PPP needs high-pass filtering to detect accurate displacement since SF-PPP solutions include trends and low-frequency fluctuations, mainly due to atmospheric effects. Findings obtained in the time domain indicate that final, real-time, and MADOCA-based PPP results capture short-term dynamic behaviors with an accuracy ranging from 3.4 mm to 8.5 mm, and SBAS-based PPP solutions have several times higher RMSE values compared to other methods. However, after high-pass filtering, the accuracies obtained from PPP methods decreased to a few mm. The outcomes demonstrate the potential of the high-rate SF-PPP method to reliably monitor structural and earthquake-induced ground motions and vibration frequencies of structures.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.3
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• pp.237-244
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• 2023

A signal generation simulator is an economical and useful solution in Global Navigation Satellite System (GNSS) receiver design and testing. A software-defined radio approach is widely used both in receivers and simulators, and its flexible structure to adopt to new signals is ideally suited to the testing of a receiver and signal processing algorithm in the signal design phase of a new satellite-based navigation system before the deployment of satellites in space. The generation of highly accurate delayed sampled codes is essential for generating signals in the simulator, where its sampling rate should be chosen to satisfy constraints such as Nyquist criteria and integer and non-commensurate properties in order not to cause any distortion of original signals. A high sampling rate increases the accuracy of code delay, but decreases the computational efficiency as well, and vice versa. Therefore, the selected sampling rate should be as low as possible while maintaining a certain level of code delay accuracy. This paper presents the lower limits of the sampling rate for GNSS signal generation simulators. In the simulation, two distinct code generation methods depending on the sampling position are evaluated in terms of accuracy versus computational efficiency to show the lower limit of the sampling rate for several GNSS signals.

• Structural Engineering and Mechanics
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• v.73 no.4
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• pp.427-436
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• 2020

The use of final IGS precise orbit and clock products for high-rate GNSS-PPP proved its effectiveness in capturing dynamic displacement of engineering structures caused by earthquakes. However, the main drawback of using the final products is that they are available after approximately two weeks of data collection, which is not suitable for timely measures after an event. In this study, the use of ultra-rapid products (observed part), which are available after a few hours of data collection, and rapid products, which are available in less than 24 hrs, are investigated and their results are compared to the more precise final products. The tests are designed such that harmonic oscillations with different frequencies and amplitudes and ground motion of a simulated real earthquake are generated using a single axis shake table and the PPP was used to capture these movements by monitoring time-change of the table positions. To evaluate the accuracy of PPP using ultra-rapid, rapid and final products, their results were compared with relative GNSS positioning and LVDT (Linear Variable Differential Transformer) data, treated as reference. The results show that the high-rate GNSS-PPP solutions based on the three products can capture frequencies of harmonic oscillations and dynamic displacement with good accuracy. There were slight differences between ultra-rapid, rapid and final products, where some of the tested events indicated that the latter two produced are more accurate and provide better results compared to the ultra-rapid product for monitoring short-term dynamic displacements.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.243-246
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• 2006

This study investigates the improvement in the theoretical success rate of the integer ambiguity resolution in GPS/GNSS carrier-phase positioning by using many visible satellites. It estimates the dependence of the rate on the baseline length in relative positioning under the condition of the use of double/triple-frequency navigation signals. The calculation results show that the use of 14 navigation satellites (i.e., seven GPS and seven Galileo ones) remarkably improves the success rate under the condition of very short baseline length, compared with the use of seven GPS ones. The numerical reliability of the calculated success rates is strictly tested by examining the tightness of the union and minimum-distance bounds to the rate. These bounds are also shown to be effective to investigate the realization of the high success rates.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.1
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• pp.1-12
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• 2021

Due to the Global Navigation Satellite System (GNSS) modernization, the recently launched GNSS satellites transmit signals at various frequency bands of L1, L2 and L5. Considering the Korea Positioning System (KPS) signal and other GNSS augmentation signals in the future, there is a high probability of applying more complex communication techniques to the new GNSS signals. For the reason, GNSS receivers based on flexible Software Defined Radio (SDR) concept needs to be developed to evaluate various experimental communication techniques by accessing each signal processing module in detail. In this paper, we introduce a multi-constellation (GPS/Galileo/BeiDou) multi-band (L1/L2/L5) SDR by utilizing Ettus USRP N210. The signal reception module of the developed SDR includes down-conversion, analog-to-digital conversion, signal acquisition, and tracking. The down-conversion module is designed based on the super-heterodyne method fitted for MHz sampling. The signal acquisition module performs PRN code generation and FFT operation and the signal tracking module implements delay/phase/frequency locked loops only by software. In general, it is difficult to sample entire main lobe components of L5 band signals due to their higher chipping rate compared with L1 and L2 band signals. Experiment result shows that it is possible to acquire and track the under-sampled signals by the developed SDR.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.237-248
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• 2020

GNSS has been evolving dramatically in recent years. There are currently 6 GNSS (4 GNSS, AND 2 RNSS) constellations, which are GPS (USA), GLONASS (Russia), BeiDou (China), Galileo (EU), QZSS (Japan), and IRNSS (India). The Number of navigation satellites is expected to be over 150 by 2020. As the number of both constellations and satellites used for the improvement of positioning performance, high accuracy, and robustness of precise positioning is more promising. However, a large amount of the correction messages is required to support the augmentation system for the available satellites of all the constellations. Since bandwidth for the correction messages is generally limited, sending or scheduling the correction messages might be a critical issue in the near future. In this study, we analyze the relationship between the size of the bandwidth and Real-Time Kinematics (RTK) performance. Multiple Signal Messages (MSM), the only Radio Technical Commission for Maritimes (RTCM) message that supports multi-constellation GNSS, has been used for this assessment. Instead of the conventional method that broadcasts all the messages at the same time, we assign the MSM broadcasting interval for each constellation in 5 seconds. An open sky static and dynamic test for this study was conducted on the roof of Sejong University. Our results show that the RTK fixed position accuracy is not affected by the 5-second interval corrections, but the ambiguity fixing rate is degraded for poor DOP cases when RTK correction are transmitted intermittently.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.697-705
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• 2020

This paper deals with an analysis of crustal movement for the sourthern part of Korean peninsula using GNSS (Global Navigation Satellite System) data. An earthquake of more than 5.0 occurred in the southeastern region of the Korean Peninsula, and it is necessary to evaluate the risk of earthquakes in various ways.In order to reveal long-term tectonic movement patten in Pohang and Gyeongju provinces, we derived crustal movement parameters related with elastic theory. We used GAMIT/GLOBK for analyzing seven-year interval GNSS data of CORS (Continuously Operating Reference Stations). The azimuth of velocity vectors trended generally about 110° with an mean magnitude of 31mm/yr.The main characteristics of the strain change for seven-year in Korea obtaind from our study. Direction of the principal axis of the maximum compression is ENE-WSW as a whole, through there are some exceptions. The mean rate of the maximum shear strain change is (0.11±0.07)μ/yr, that is approximately one third that of Chubu district, Central Japan. Taking into account our results, the mean rate of maximum shear in southern part of Korean peninsula is considered as reasonable. The mean azimuth of principal strain is about (85.4°±26.8°). There are some exceptions of azimuth because the average azimuth differ from the left and right side in Yangsan fault which are about (73.2°±21.5°) and (105.2°±17.0°) respectively, It is noteworthy that the high seismicity areas in the southern part of Korea peninsula almost coincides with the area of large strain rate. As a conclusion, it could be stated that the our study represents the characteristics of crustal deformation in the southern part of peninsula, and contributes to the researches on earthquake disaster management.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.4
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• pp.9-21
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• 2008

In this paper, we propose a GNSS-based RF receiver, A high precision localization architecture, and a high sensitivity localization architecture in order to solve the satellite navigation system's problem mentioned above. The GNSS-based RF receiver model should have the structure to simultaneously receive both the conventional GPS and navigation information data of future-usable Galileo. As a result, it is constructed as the multi-band which can receive at the same time Ll band (1575.42MHz) of GPS and El band (1575.42MHz), E5A band (1207.1MHz), and E4B band (1176.45MHz) of Galileo This high precision localization architecture proposes a delay lock loop with the structure of Early_early code, Early_late code, Prompt code, Late_early code, and Late_late code other than Early code, Prompt code, and Late code which a previous delay lock loop structure has. As we suggest the delay lock loop structure of 1/4chips spacing, we successfully deal with the synchronization problem with the C/A code derived from inaccuracy of the signal received from the satellite navigation system. The synchronization problem with the C/A code causes an acquisition delay time problem of the vehicle navigation system and leads to performance reduction of the receiver. In addition, as this high sensitivity localization architecture is designed as an asymmetry structure using 20 correlators, maximizes reception amplification factor, and minimizes noise, it improves a reception rate. Satellite navigation system repeatedly transmits the same C/A code 20 times. Consequently, we propose a structure which can use all of the same C/A code. Since this has an adaptive structure and can limit(offer) the number of the correlator according to the nearby environment, it can reduce unnecessary delay time of the system. With the use of this structure, we can lower the acquisition delay time and guarantee the continuity of tracking.