Relative navigation based on GPS receivers and inertial measurement units is required in many applications including formation flying, collision avoidance, cooperative positioning, and accident monitoring. Since sensors are mounted on different vehicles which are moving independently, sensor errors are more variable in relative navigation than in single-vehicle navigation due to different vehicle dynamics and signal environments. In order to improve the robustness against sensor error variability in relative navigation, we present an efficient adaptive GPS/INS integration method. In the proposed method, the covariances of GPS and inertial measurements are estimated separately by the innovations of two fundamentally different filters. One is the position-domain carrier-smoothed-code filter and the other is the velocity-aided Kalman filter. By the proposed two-filter adaptive estimation method, the covariance estimation of the two sensors can be isolated effectively since each filter estimates its own measurement noise. Simulation and experimental results demonstrate that the proposed method improves relative navigation accuracy by appropriate noise covariance estimation.

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This paper proposes an efficient multi-sensor system to complement GNSS (Global Navigation Satellite System) for improved positioning in urban area. The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit), OBD (On-Board Diagnostics)-II, and digital altimeter modules. For improved availability of time synchronization in urban area, an adaptive synchronization method is proposed to combine the external PPS (Pulse Per Second) signal and the internal onboard clock. For improved positioning accuracy and availability, a 17-state Kalman filter is formulated for efficient multi-sensor fusion, including OBD-II and digital altimeter modules. A strategy to apply different types of measurement updates is also proposed for improved performance in urban area. Four experiment results with field-collected measurements evaluates the performance of the proposed GNSS/IMU/OBD-II/altimeter system in various aspects, including accuracy, precision, continuity, and availability.

In this study, Chlorophyll-a (chl-a) prediction model and multiple parameters affecting algae occurrence in Mulgeum site were evaluated by statistical analysis using water quality, hydraulic and climate data at Mulgeum site (1998~2008). Before the analysis, control chart method and effect period of typhoon were adopted for improving reliability of the data. After data preprocessing step two methods were used in this study. In method 1, chl-a prediction model was developed using preprocessed data. Another model was developed by Method 2 using significant parameters affecting chl-a after data preprocessing step. As a result of correlation analysis, water temperature, pH, DO, BOD, COD, T-N, NO3-N, PO4-P, flow rate, flow velocity and water depth were revealed as significant multiple parameters affecting chl-a concentration. Chl-a prediction model from Method 1 and 2 showed high R 2 value with 0.799 and 0.790 respectively. Validation for each prediction model was conducted with the data from 2009 to 2010. Training period and validation period of Method 1 showed 20.912 and 24.423 respectively. And Method 2 showed 21.422 and 26.277 in each period. Especially BOD, DO and PO4-P played important role in both model. So it is considered that analysis of algae occurrence at Mulgeum site need to focus on BOD, DO and PO4-P.

This paper proposes a distributed processing method applicable to GPS receivers in a network to generate a regional ionosphere map accurately and reliably. For accuracy, the proposed method is operated by multiple local Kalman filters and Kriging estimators. Each local Kalman filter is applied to a dual-frequency receiver to estimate the receiver’s differential code bias and vertical ionospheric delays (VIDs) at different ionospheric pierce points. The Kriging estimator selects and combines several VID estimates provided by the local Kalman filters to generate the VID estimate at each ionospheric grid point. For reliability, the proposed method uses receiver fault detectors and satellite fault detectors. Each receiver fault detector compares the VID estimates of the same local area provided by different local Kalman filters. Each satellite fault detector compares the VID estimate of each local area with that projected from the other local areas. Compared with the traditional centralized processing method, the proposed method is advantageous in that it considerably reduces the computational burden of each single Kalman filter and enables flexible fault detection, isolation, and reconfiguration capability. To evaluate the performance of the proposed method, several experiments with field collected measurements were performed.