[논문]QZSS-CLAS의 Compact SSR을 이용한 다중 위성항법 기반의 Code-PPP 개발

이해창; 박관동

doi:10.7848/ksgpc.2020.38.6.521

QZSS-CLAS의 Compact SSR을 이용한 다중 위성항법 기반의 Code-PPP 개발
Development of Code-PPP Based on Multi-GNSS Using Compact SSR of QZSS-CLAS 원문보기

한국측량학회지 = Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, v.38 no.6, 2020년, pp.521 - 531

이해창 (Dept. of Future Vehicle Engineering, Inha University) , 박관동 (Dept. of Geoinformatic Engineering, Inha University)

초록
AI-Helper

QZSS (Quasi-Zenith Satellite System)는 위성의 L6 밴드를 통해서 CLAS (Centimeter Level Augmentation Service)를 제공한다. CLAS는 현재 GPS (Global Positioing System), Galileo 그리고, QZSS 위성군에 대한 보정정보를 제공하며, 이러한 보정정보를 C-SSR (Compact - Space State Representation)라고 한다. 본 연구에서는 L6 밴드를 수신할 수 있는 GPS 수신기인 Septentrio의 AsteRx4를 이용하여 CLAS 메시지를 수신하고, 그 메시지를 디코딩하여 C-SSR을 획득하였다. 그리고, GPS, Galileo, QZSS의 코드의사거리 관측치에 Compact SSR을 적용하여 GNSS (Global Navigation Satellite System) 오차를 보정하고, 비선형 최소제곱법으로 수신기의 3차원 위치 및 위성군의 시계오차들을 추정하는 다중 위성항법 기반의 Code-PPP (Precise Point Positioning)를 개발하였다. 개발한 알고리즘의 정확도를 평가하기 위해서 IGS (International GNSS Service) 사이트 중 하나인 TSK2 (Tsukuba)를 대상으로 정지측위를 수행하고, 일본의 가와니시(Kawanishi)시의 이나강(Ina river) 주변을 주행하며 이동측위를 수행하였다. 그 결과, 정지측위의 경우 모든 데이터셋의 평균 RMSE (Root Mean Squared Error)는 수평방향으로 0.35 m, 수직방향으로 0.57 m의 정확도를 나타냈다. 그리고 이동측위의 경우 VRS의 RTK-FIX 값과 비교해 봤을 때 수평방향은 약 0.82 m, 수직방향은 약 3.56 m의 정확도를 나타냈다.

Abstract ▼ AI-Helper

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.

주제어

표/그림 (11)

그림 Fig. 1. CLAS grid points
표 Table 1. Equations to obtain STEC correction by STEC correction Type
그림 Fig. 2. TSK2 location (red) and CLAS grid points (black)
그림 Fig. 3. Horizontal accuracy according to static positioning mode in TSK2. (a) is the result of DS#1(DOY099A), (b) is the result of the DS#2(DOY099J), (c) is the result of the DS#3(DOY150M) and (d) is the result of DS#4(DOY150S)
표 Table 2. GNSS error consideration method according to positioning mode
표 Table 3. RMS errors according to positioning mode in static positioning
그림 Fig. 4. Sky-plot, number of satellites and PDOP of DS#2. (a) and (c) are sky-plot. (b) and (d) show the number of satellite and PDOP over time
그림 Fig. 5. 3-D placement of satellites in the PDOP peak (2908 epoch). (a): GPS only, (b): GPS, Galileo, QZSS
그림 Fig. 6. Driving path of kinematic positioning
그림 Fig. 7. Horizontal Errors in kinematic positioning
표 Table 4. RMS errors according to positioning mode in kinematic positioning

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