• Journal of Positioning, Navigation, and Timing
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• v.8 no.4
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• pp.209-214
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• 2019

Precise point positioning (PPP) requires precise orbit and clock products. International GNSS service (IGS) real-time service (RTS) data can be used in real-time for PPP, but it may not be possible to receive these corrections for a short time due to internet or hardware failure. In addition, the time required for IGS to combine RTS data from each analysis center results in a delay of about 30 seconds for the RTS data. Short-term orbit prediction can be possible because it includes the rate of correction, but the clock correction only provides bias. Thus, a short-term prediction model is needed to preidict RTS clock corrections. In this paper, we used a long short-term memory (LSTM) network to predict RTS clock correction for three minutes. The prediction accuracy of the LSTM was compared with that of the polynomial model. After applying the predicted clock corrections to the broadcast ephemeris, we performed PPP and analyzed the positioning accuracy. The LSTM network predicted the clock correction within 2 cm error, and the PPP accuracy is almost the same as received RTS data.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.20 no.9
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• pp.954-960
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• 2009

In this paper, Indoor Positioning System based on Wi-Fi system which is one of the key technology in LBS(Location Based Service) is proposed. The proposed system estimates distance between MS(Mobile Station) and AP(Access Point) using RSSI(Received Signal Strength Indicator). RSSI is affected by outlier that originate from indoor environment complexity and obstacle. In this paper, we introduce a Robust outlier Extended Kalman Filter that can ignore, real-time outlier in the observations. To demonstrate performance of proposed indoor positioning system, we used a PDA as the MS.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.3
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• pp.794-814
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• 2012

We propose a novel method for improving Wi-Fi positioning accuracy while reducing the energy consumption of mobile devices. Our method presents three contributions. First, we jointly and intelligently select the optimal subset of access points for positioning via maximum mutual information criterion. Second, we further propose local discriminant embedding algorithm for nonlinear discriminative feature extraction, a process that cannot be effectively handled by existing linear techniques. Third, to reduce complexity and make input signal space more compact, we incorporate clustering analysis to localize the positioning model. Experiments in realistic environments demonstrate that the proposed method can lower energy consumption while achieving higher accuracy compared with previous methods. The improvement can be attributed to the capability of our method to extract the most discriminative features for positioning as well as require smaller computation cost and shorter sensing time.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.231-239
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• 2010

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.263-268
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• 2022

Precise Point Positioning-Real Time Kinematic (PPP-RTK) is a high accuracy positioning method that combines RTK and PPP to overcome the limitations on service coverage of RTK and convergence time of PPP. PPP-RTK provides correction data in the form of State Space Representation (SSR), unlike RTK, which provides measurement-based Observation Space Representation (OSR). Due to this, PPP-RTK has an advantage that it can transmit less data than RTK. So, recently, several techniques for PPP-RTK have been proposed. However, in order to utilize PPP-RTK techniques, performance analysis of these in a real environment is essential. In this paper, we implement the local network PPP-RTK and analyze the positioning performance according to the distance within 100 km from the reference station in Korea. As results of experiment, the horizontal and vertical 95% errors of local network PPP-RTK were 6.25 cm and 5.86 cm or less, respectively.

• Journal of IKEEE
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• v.26 no.2
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• pp.186-195
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• 2022

In this paper, we propose a new algorithm to improve the accuracy of indoor positioning techniques using Wi-Fi access points as beacon nodes. The proposed algorithm is based on the Weighted Centroid algorithm, a popular method widely used for indoor positioning, however, it improves some disadvantages of the Weighted Centroid method and also for other kinds of indoor positioning methods, by using the received signal strength correction method and genetic algorithm to prevent the signal strength fluctuation phenomenon, which is caused by the complex propagation environment. To validate the performance of the proposed algorithm, we conducted experiments in a complex indoor environment, and collect a list of Wi-Fi signal strength data from several access points around the standing user location. By utilizing this kind of algorithm, we can obtain a high accuracy positioning system, which can be used in any building environment with an available Wi-Fi access point setup as a beacon node.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.2
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• pp.141-148
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• 2023

In this paper, impacts of tropospheric delay gradient correction on PPP positioning performance were analyzed. A correction for tropospheric delay error due to the gradient was created and applied using external data, and reference station data were collected on a sunny day and a rainy day to analyze the GPS only dual-frequency PPP positioning results. As a result, on the sunny day, the convergence time was about 35 minutes and the final 3D position error was 10 cm, regardless of whether the correction for the tropospheric delay error by the gradient was applied. On the other hand, on the rainy day, the 3D position error converges only when the correction was applied, and the convergence time was about 34 minutes. Furthermore, the final 3D position error was improved from 30 cm to 10 cm. In addition, the analysis of the PPP by reference station location on the rainy day showed that the PPP positioning performance was improved when the correction was applied to a user located in an area where the weather changes.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.1
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• pp.47-54
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• 2014

Precise Point Positioning (PPP) algorithms using GPS code pseudo-range measurements were developed and their accuracy was validated for the purpose of implementing them on a portable device. The group delay, relativistic effect, and satellite-antenna phase center offset models were applied as fundamental corrections for PPP. GPS satellite orbit and clock offsets were taken from the International GNSS Service official products which were interpolated using the best available algorithms. Tropospheric and ionospheric delays were obtained by applying mapping functions to the outputs from scientific GPS data processing software and Global Ionosphere Maps, respectively. When the developed algorithms were tested for four days of data, the horizontal and vertical positioning accuracies were 0.8-1.6 and 1.6-2.2 meters, respectively. This level of performance is comparable to that of Differential GPS, and further improvements and fine-tuning of this suite of PPP algorithms and its implementation at a portable device should be utilized in a variety of surveying and Location-Based Service applications.

• 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 Biosystems Engineering
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• v.36 no.2
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• pp.116-121
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• 2011

This study was conducted to develop a robust navigator which could be in positioning for precision farming through developing a plural GPS receiver with 4 sets of GPS antenna. In order to improve positioning accuracy by integrating GPS signals received simultaneously, the algorithm for processing plural GPS signal effectively was designed. Performance of the algorithm was tested using a simulation program and a fixed point on WGS 84 coordinates. Results of this study are aummarized as followings. 1. 4 sets of lower grade GPS receiver and signals were integrated by kalman filter algorithm and geometric algorithm to increase positioning accuracy of the data. 2. Prototype was composed of 4 sets of GPS receiver and INS components. All Star which manufactured by CMC, gyro compass made by KVH, ground speed sensor and integration S/W based on RTOS(Real Time Operating System)were used. 3. Integration algorithm was simulated by developed program which could generate random position error less then 10 m and tested with the prototype at a fixed position. 4. When navigation data was integrated by geometrical correction and kalman filter algorithm, estimated positioning erros were less then 0.6 m and 1.0 m respectively in simulation and fixed position tests.