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학술지 TWR 기반 군집 협업측위 시스템의 오차 전파 분석
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저자
임정민, 이창은, 성태경
발행일
201509
출처
제어로봇시스템학회논문지, v.21 no.9, pp.898-902
ISSN
1976-5622
출판사
제어로봇시스템학회
DOI
https://dx.doi.org/10.5302/J.ICROS.2015.15.0039
협약과제
15MC1300, 자율지능형 지식/기기 협업 프레임워크 기술 개발, 김성훈
초록
Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS.
키워드
Cooperative positioning system, Error propagation, Two-way ranging
KSP 제안 키워드
Accuracy performance, Error budget, GNSS signal, High accuracy, Indoor Environment, Location Error, Network geometry, Number of hops, Two-way ranging, cooperative positioning system, error propagation