• Journal of Advanced Navigation Technology
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• v.17 no.5
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• pp.475-483
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• 2013

In this paper, the performances of modeling methods for combining corrections from multiple reference stations for network user were compared and analyzed. The longer the distance between reference station and user is, the more the GPS errors are decorrelated. Based on this point, multiple corrections from reference stations which is constituting a network should be combined properly to be applied for user observation to eliminate GPS errors. There are many widely used conventional modeling methods and they are applied for Compact Network RTK users and user position accuracy is predicted by using residual errors in observation of user. Compact Network RTK is a technique of generating corrections which was developed by Seoul National University. As a result, the horizontal and vertical accuracies were within about 5 cm and 7 cm respectively with 95 % probability for all conventional modeling methods. In addition, we analyzed condition for reference station constellation for modeling method using height information.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.1
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• pp.43-52
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• 2018

In recent years, the need of high accuracy navigation for vehicles has increased due to the development of autonomous driving vehicles and increase in land transportation convenience. This study is performed for vehicle users to achieve a performance of centimeter-level positioning accuracy by utilizing Compact Network Real-time Kinematic (RTK) that is applicable as a national-level infrastructure. To this end, medium-baseline RTK was implemented in real time to estimate accurate integer ambiguities between reference stations for reliable generation of Network RTK correction using the linear combination of carrier-phase observations and L1/L2 pseudo-range measurements. The residual tropospheric error was estimated in real time to improve the accuracy of double-differenced integer ambiguity resolution between network configuration reference stations that have at least 30 km or longer baseline distance. In addition, C++ based software was developed to enable real-time generation and broadcasting of Compact Network RTK correction information by utilizing an accurately estimated double-differenced integer ambiguity values. As a result, the horizontal and vertical 95% accuracy was 2.5cm and 5.2cm, respectively, without performance degradation due to user's position change within the network.

• Journal of Advanced Navigation Technology
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• v.17 no.4
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• pp.404-412
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• 2013

Network RTK is widely used especially for static applications so far, however, the demand for high accuracy positioning for kinetic users such as land vehicles is growing for safety and convenience reasons. Kinematic users move along the roads and the network where they receive corrections can be changed. Compact Network RTK corrections should keep consistency while network change. In this paper, we introduced a method of generating Compact Network RTK corrections considering network ambiguity level adjustment by formulation of corrections. We verified the proposed method for reference station networks across whole country. We also generated Compact Network RTK corrections using simulation and real GPS data from reference stations in South Korea and evaluated performance of users. As a result, the discontinuity between corrections from two networks reduced to 0.25 cycle from several cycles. And user could achieve less than 8 cm (2DRMS) horizontal position accuracy continuously regardless of network change.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.1
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• pp.33-41
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• 2015

Compact Network Real-Time Kinematic (RTK) is a method that combines compact RTK and network RTK, and it can effectively reduce the time and spatial de-correlation errors. A network RTK user receives multiple correction information generated from reference stations that constitute a network, calculates correction information that is appropriate for one's own position through a proper combination method, and uses the information for the estimation of the position. This combination method is classified depending on the method for modeling the GPS error elements included in correction information, and the user position accuracy is affected by the accuracy of this modeling. Among the GPS error elements included in correction information, tropospheric delay is generally eliminated using a tropospheric model, and a combination method is then applied. In the case of a tropospheric model, the estimation accuracy varies depending on the meteorological condition, and thus eliminating the tropospheric delay of correction information using a tropospheric model is limited to a certain extent. In this study, correction information modeling accuracy performances were compared focusing on the Low-Order Surface Model (LSM), which models the GPS error elements included in correction information using a low-order surface, and a modified LSM method that considers tropospheric delay characteristics depending on altitude. Both of the two methods model GPS error elements in relation to altitude, but the second method reflects the characteristics of actual tropospheric delay depending on altitude. In this study, the final residual errors of user measurements were compared and analyzed using the correction information generated by the various methods mentioned above. For the performance comparison and analysis, various GPS actual measurement data were collected. The results indicated that the modified LSM method that considers actual tropospheric characteristics showed improved performance in terms of user measurement residual error and position domain residual error.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.251-261
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• 2022

The Centimeter Level Augmentation Service (CLAS) is the Precise Point Positioning (PPP) - Real Time Kinematic (RTK) correction service utilizing the Quasi-Zenith Satellite System (QZSS) L6 (1278.65 MHz) signal to broadcast the Global Navigation Satellite System (GNSS) error corrections. Compact State-Space Representation (CSSR) corrections for mitigating GNSS measurement error sources such as satellite orbit, clock, code and phase biases, tropospheric error, ionospheric error are estimated from the ground segment of QZSS CLAS using the code and carrier-phase measurements collected in the Japan's GNSS Earth Observation Network (GEONET). Since the CLAS service begun on November 1, 2018, users with dedicated receivers can perform cm-level precise positioning using CSSR corrections. In this paper, CLAS-based VRS-RTK performance evaluation was performed using Global Positioning System (GPS) observables collected from the refence station, TSK2, located in Japan. As a result of performing GPS-only RTK positioning using the open-source software CLASLIB and RTKLIB, it took about 15 minutes to resolve the carrier-phase ambiguities, and the RTK fix rate was only about 41%. Also, the Root Mean Squares (RMS) values of position errors (fixed only) are about 4cm horizontally and 7 cm vertically.

• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.412-417
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• 2022

In this paper, multi-GNSS network RTK MAC correction generation software developed based on MATLAB GUI is introduced. The software was developed as a post-processing software based on simulation data to evaluate the feasibility of an algorithm for generating correction for multi-GNSS including GPS, GLONASS, and Galileo. As a result of software operation, network RTK correction for each system of multi-GNSS is output in MATLAB file format. In this paper, to evaluate the performance of the developed software, the residual error was analyzed after applying the correction generated through the software to the user. As a result of the analysis, it was confirmed that effective network RTK correction could be generated by confirming that the residual errors of users were maintained at 10 cm or less.

• 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 Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.521-531
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• 2020

QZSS (Quasi-Zenith Satellite System) provides the CLAS (Centimeter Level Augmentation Service) through the satellite's L6 band. CLAS provides correction messages called C-SSR (Compact - State Space Representation) for GPS (Global Positioning System), Galileo and QZSS. In this study, CLAS messages were received by using the AsteRx4 of Septentrio which is a GPS receiver capable of receiving L6 bands, and the messages were decoded to acquire C-SSR. In addition, Multi-GNSS (Global Navigation Satellite System) Code-PPP (Precise Point Positioning) was developed to compensate for GNSS errors by using C-SSR to pseudo-range measurements of GPS, Galileo and QZSS. And non-linear least squares estimation was used to estimate the three-dimensional position of the receiver and the receiver time errors of the GNSS constellations. To evaluate the accuracy of the algorithms developed, static positioning was performed on TSK2 (Tsukuba), one of the IGS (International GNSS Service) sites, and kinematic positioning was performed while driving around the Ina River in Kawanishi. As a result, for the static positioning, the mean RMSE (Root Mean Square Error) for all data sets was 0.35 m in the horizontal direction ad 0.57 m in the vertical direction. And for the kinematic positioning, the accuracy was approximately 0.82 m in horizontal direction and 3.56 m in vertical direction compared o the RTK-FIX values of VRS.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.625-631
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• 2010

In this paper, robustness performance of SNUR message is compared with those of existing ones, RTCM(Radio Technical Commission for Maritime Services) v2 MT(Message Type) 18/19 and MT 20/21 under a poor broadcast condition such as temporary data loss or disconnection We defined the temp oral data loss as 2 second delay and reconnection after disconnection as 7 second latency, and then evaluated its robustness for each latency case by double differentiating the observables. Our result shows that SNUR protocol method can reduce the latency error of the existing RTCM messages by 30~60%. Moreover, a rover using SNUR message, whose latency error is bounded within 1/4 L1 wave length, can figure out its own fixed position continuously in spite of 7 second disconnection, while the other using RTCM message, whose error is larger than half wave length, cannot keep its previous fixed solution.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.1
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• pp.48-54
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• 2017

A minimum turning circle test of vehicles is operated by using Real-Time Kinematic(RTK) surveying method which enhances the precision of the Global Positioning System(GPS). A procedure of the conventional method to obtain results is to take post processing after the test. Therefore, it is difficult to ensure results in an instant. This paper introduces developed process and equipment that can immediately obtain results after the minimum turning test without post processing.