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고도를 고정한 GNSS 위치 결정 기법에서 고도 오차의 영향
조성룡(SungLyong Cho),한영훈(Young Hoon Han),김강식(SangSik Kim),문제형(JeiHyeong Moon),이상정(Sang Jeong Lee),박찬식(Chansik Park) 대한전기학회 2012 전기학회논문지 Vol.61 No.10
This paper analyzed the precision and accuracy of the altitude-aided GNSS using the altitude information from digital map. The precision of altitude-aided GNSS is analysed using the theoretically derived DOP. It is confirmed that the precision of altitude-aided GNSS is superior to the general 3D positioning method. It is also shown that the DOP of altitude-aided GNSS is independent of altitude bias error while the accuracy was influenced by the altitude bias error. Futhermore, it is shown that, since the altitude bias error influenced differently to each pseudorange measurement, the effect of the altitude bias error is more serious than clock bias error which does not influence position error at all. The results are evaluated by the simulation using the commercial RF simulator and GPS receiver. It confirmed that altitude-aided GNSS could improve not only precision but also accuracy if the altitude bias error are small. These results are expected to be easily applied for the performance improvement to the land and maritime applications.
다중경로 환경에서 형상필터를 이용한 CDGPS 성능 향상 기법
조성룡(SungLyong Cho),한영훈(Young Hoon Han),최헌호(Heon Ho Choi),허문범(Moon-Beom Heo),박찬식(Chansik Park),이상정(Sang Jeong Lee) 대한전기학회 2011 전기학회논문지 Vol.60 No.12
The quality of float solution deeply influences the performance of CDGPS because the theories being used in the integer ambiguity resolution method are derived under the assumption of AWGN. But in real world, the properties of noises are far from AWGN, especially when multipath are concerned. It results in the bias in float solution which affects the success rate of integer ambiguity and the precision of position in CDGPS. This paper designs an augmented Kalman filter using shaping filter and Kalman filter for the performance improvement of CDGPS on multipath. The experimental results with real measurements show that the correct integer ambiguity is always found while the success rates of WLSQ and ordinary Kalman filter are 5% and 18%, respectively. Eventually, the position accuracy is also improved by using the proposed algorithm.
상대항법 성능 분석 플랫폼 개발 및 이를 이용한 성능 개선
최헌호(Heon Ho Choi),심우성(Woo Seong Shim),조성룡(SungLyong Cho),한영훈(Young Hoon Han),박찬식(Chansik Park),이상정(Sang Jeong Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.5
The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKP based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.