• Journal of Astronomy and Space Sciences
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• v.20 no.3
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• pp.197-204
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• 2003

We demonstrated positioning accuracy of iRTK system, which has been developed by Korea Astronomy Observatory, using a low-price GPS receiver. Each four different baseline positioning tests using the iRTK system, we certified 1-3 meters level positioning accuracy of the iRTK system. While the iRTK is similar to conventional RTK at coverage and accuracy, the iRTK positioning carried out from data processing center. And also, the iRTK system has no limit of data communication coverage because of using wire/wireless Internet. But the iRTK system has a weakness of short available coverage within 5km. Therefore we discussed a plan to adopt VRS (Virtual Reference System) as completion of the iRTK system preparing nation-wide iRTK service in near future.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.28-28
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• 2003

한국천문연구원이 개발한 iRTK(inverted Real Time Kinemtic) 시스템의 성능을 분석하고 개선방향에 대해 논의하였다. 제안하는 iRTK 시스템은 기존의 실시간 고정밀 측위기법인 RTK와 측위방법과 적용범위 면에서 유사하지만, 중앙에서 일괄적으로 사용자의 위치를 계산하고 유무선 인터넷을 이용하므로 통신범위에 제약을 받지 않는 장점이 있다. iRTK 시스템의 성능분석은 소요시간, 성공률, 정확도를 판단기준으로 하여 이루어졌으며 측정점에서는 중저가의 GPS 수신기를 사용하였다. 분석결과 기준점과의 기선거리 5km 이내에서 1-3m 수준의 측위정밀도를 얻을 수 있었으며, 측위성공률은 최적의 측정시간을 이용할 경우 약 90% 수준이었다. 이를 통해 iRTK 시스템의 적용가능 분야를 살펴보고 적용범위와 정밀도 개선을 위한 몇 가지 개선사항을 검토하였다. 이 중 VRS(Virtual Reference System)는 iRTK 시스템의 성능을 개선하고 단점을 보완할 수 있는 대안으로 검토되었으며, iRTK+VRS 시스템 구축의 가능성에 대해 논의하였다.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.29-29
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• 2003

GPS의 민간수요에 따른 응용분야가 날로 증가함에 따라 중저가 GPS 수신기를 이용한 실시간 정밀측위 기술의 필요성이 점차 부각되고 있다. 이에 한국천문연구원은 iRTK 기법을 이용한 준 실시간 정밀측위 시스템을 개발한 바 있다. 반송파 위상데이터를 이용한 정밀측위는 모호수를 결정해야하는 어려움이 있고 특히 짧은 시간 내에 정확한 모호수를 찾는 것은 쉽지 않다. 본 연구는 한국천문연구원이 개발한 iRTK시스템의 자료처리능력을 향상시키기 위한 것으로 실시간 모호수 결정 알고리즘 개발에 중점을 두었다. 이를 위해 2003년 7월부터 9월 사이에 실험이 이루어졌고 중저가 GPS 수신기를 이용해 측정한 데이터를 모호수 결정 알고리즘으로 구한 값과 이미 알고 있는 정밀좌표 값을 비교 분석하였다. 새로운 모호수 결정 알고리즘을 이용해 구한 결과 값이 기존의 iRTK시스템 결과보다 정밀하고 안정적으로 산출됨을 알 수 있었다. 개선된 모호수 결정 알고리즘은 iRTK시스템의 준 실시간 자료처리부분에 적용할 수 있도록 보완할 것이다.

• Journal of Korean Society of Water and Wastewater
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• v.30 no.2
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• pp.179-185
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• 2016

In this study, the RDII predictions were compared using two methodologies, i.e., the RTK-based and regression methods. Long-term (1/1/2011~12/31/2011) monitoring data, which consists of 10-min interval streamflow and the amount of precipitation, were collected at the domestic study area (1.36 km2 located in H county), and used for the construction of the RDII prediction models. The RTK method employs super position of tri-triangles, and each triangle (called, unit hydrograph) is defined by three parameters (i.e., R, T and K) determined/optimized using Genetic Algorithm (GA). In regression method, the MovingAverage (MA) filtering was used for data processing. Accuracies of RDII predictions from these two approaches were evaluated by comparing the root mean square error (RMSE) values from each model, in which the values were calculated to 320.613 (RTK method) and 420.653 (regression method), respectively. As a results, the RTK method was found to be more suitable for RDII prediction during extreme rainfall event, than the regression method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.455-458
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• 2006

The Real Time Kinematic (RTK) technique is the most productive and accurate GPS positioning method today, as it can be determinate position within few centimeters instantly. This method is widely used for applications such as surveying, structure monitoring and machine guidance etc. In order to perform RTK processing for large scale systems (i.e. precise vehicle monitoring with many rovers), many expensive RTK receivers and same number of bidirectional communication units have to be installed to collect observation data communicate with the reference site and monitor its RTK solutions. Moreover, if applications require remote control or apply sensing instruments, we have to install computers at each rover. To limit expense and complexity of system management with a large number of rovers, we have developed server based RTK processing platform to share RTK function for all rovers. The system can be process many GPS stations with a single personal computer. we have also developed a specialized dual frequency GPS receiver unit without on-board RTK processing capability to reduce receiver cost in order to demonstrate the advantage of our server based RTK platform. This paper describes the concept of our server based RTK platform and specialized GPS receiver unit with existing applications in Japan.

• Journal of Advanced Navigation Technology
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• v.22 no.5
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• pp.375-383
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• 2018

In order to apply the Network RTK (real time kinematics) technology, which has been used for positioning of stationary points, to the navigation of vehicles, its infrastructure should provide correction data with a quality indicator that can show the expected accuracy in real time. In this paper, we analyzed various indicator generation algorithms such as I95 (ionospheric index 95) / G95 (geodetic index 95), SBI (semivariance based index) and RIU (residual interpolation uncertainty). We also applied them to the raw observables from the reference stations of National Geographic Information Institute and VRS (virtual reference station) users, and then examined its feasibility to be used as a real-time performance index of the Network RTK rover. 24 hour data analysis shows that the RIU index, which can represent the non-linearty of the correction, has the strongest correlation with the Network RTK rover accuracy. Therefore, RIU index is expected to be used as a real-time performance index of the Network RTK rover.

• Journal of Korean Society for Geospatial Information Science
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• v.12 no.2 s.29
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• pp.29-35
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• 2004

The plenty of availability and high precision of GPS CORS is the reason why it become important more and more in the fields of surveying widely. In this study, I extracted the arbitrary point's coordinate which is using GPS CORS data, now served in RINEX FORMAT via Inter-Net, with observation network of the existing triangulation and GPS CORS data. Then, with this arbitrary point as reference station RTK GPS was performed. And I will study VRS-GPS concept which reduces the time and cost in the fields of surveying.

• Journal of Astronomy and Space Sciences
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• v.21 no.2
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• pp.129-140
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• 2004

KAO(Korea Astronomy Observatory) GPS group has developed an iRTK system as a near-real time positioning system using GPS carrier phase data. We focused on improving the accuracy of positioning through the updated capability of data processing of KAO's iRTK system using low-cost L1 carrier phase receiver. The accuracy of a positioning was demonstrated by Extended Kalman filter. Experiments were accomplished using from 30m to 20km baselines. Within 10km, the positioning accuracy was improved by approximately 50-70% to the previous study using one minute observable data. However, it took two minutes to obtain 1m level positioning accuracy at 20km point. We expect that the developed iRTK system can be applied to the various fields of GPS in near-real time positioning.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.5
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• pp.469-479
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• 2014

N-RTK(Network based RTK) methods are able to improve the accuracy of GNSS positioning results through modelling of the distance-dependent error sources(i.e. primarily the ionospheric and tropospheric delays and orbit errors). In this study, the comparison of the TTFF(Time-To-Fix-First ambiguity), accuracy and discrepancies in horizontal/vertical components of N-RTK methods(VRS and FKP) with the static GNSS at 20 Unified Control Stations covering Incheon metropolitan city area during solar storms(Solar cycle 24 period) were performed. The results showed that the best method, compared with the statics GNSS survey, is the VRS, followed by the FKP, but vertical components of both VRS and FKP were approximately two times bigger than horizontal components. The reason for this is considered as the ionospheric scintillation because of irregularities in electron density, and the tropospheric scintillation because of fluctuations on the refractive index take the place. When the TTFF at each station for each technique used, VRS gave shorter initialization time than FKP. The possible reasons for this result might be the inherent differences in principles, errors in characteristics of different correction networks, interpolating errors of FKP parameters according to the non-linear variation of the dispersive and non-dispersive errors at rover when considering both domestic mobile communication infra and the standardized high-compact data format for N-RTK. Also, those test results revealed degradation of positing accuracy, long initialization time, and sudden re-initialization, but more failures to resolve ambiguity during space weather events caused by Sunspot activity and solar flares.

• Journal of the Korean Association of Geographic Information Studies
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• v.27 no.3
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• pp.1-13
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• 2024

This paper proposes a cost-effective system design and user-friendly approach for the key technological elements necessary to configure an autonomous mobile robot. To implement a high-precision positioning system using an autonomous mobile robot, we established a Linux-based VRS (virtual reference station)-RTK (real-time kinematic) GNSS (global navigation satellite system) system with NTRIP (Network Transport of RTCM via Internet Protocol) client functionality. Notably, we reduced the construction cost of the GNSS positioning system by performing dynamic location analysis of the established system, without utilizing an RTK replay system. Dynamic location analysis involves sampling each point during the trajectory following of the autonomous mobile robot and comparing the location precision with ground-truth points. The proposed system ensures high positioning performance with fast sampling times and suggests a GPS waypoint system for user convenience. The centimeter-level precision GNSS information is provided at a 30Hz sampling rate, and the dead reckoning function ensures valid information even when passing through tall buildings and dense forests. The horizontal position error measured through the proposed system is 6.7cm, demonstrating a highly precise dynamic location measurement error within 10cm. The VRS network-RTK Linux system, which provides precise dynamic location information at a high sampling rate, supports a GPS waypoint planner function for user convenience, enabling easy destination setting based on GPS information.