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고효율 GPS-RTK 보정데이터에 기반한 정밀위치 결정
김정한(Jeonghan Kim),강태익(Taeik Kang),기창돈(Changdon Kee),박병운(Byungwoon Park) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.7
GPS has many fields of applications due to diversities of positioning accuracy, from several tens of meters to several millimeters. Using GPS carrier phase measurements, we can determine our positions with centimeter-level positioning accuracy in real-time. For this purpose, we should generate CPC(Carrier phase correction) whose range error including latency error is on millimeter-level. In this paper, we proposed methods of generating GPS-RTK corrections robust to time delay and transmitting compact correction messages in order to achieve centimeter-level positioning accuracy in real-time. To reduce the latency error caused by time delay during the data transfer, we introduced correction scheduling technique Transmitting less accurate CPC due to higher latency error more frequently, we could make the performance of GPS-RTK using 500bps data-link equivalent to that of GPS-RTK using high-rate data-link. To utilize low-bandwidth data-link in GPS-RTK system, we proposed a new GPS-RTK protocol named SNUR-2000 whose basic frame structure is identical with RTCM SC-104 version 3 standard. This protocol is compact and compatible with the proposed asynchronous transmission technique. Using this protocol, we can ensure high accuracy of GPS-RTK using as low as 500bps data-link for dual frequency 1-㎐ GPS-RTK. We developed a GPS-RTK system which implements the proposed methods and OTF(On-the-fly) ambiguity resolution algorithm. Real-time experimental results demonstrate that the performance of our GPS-RTK system with 500bps data-link is equivalent to that of GPS-RTK system without latency.