학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2017. 2. 기창돈. ; With the expansion of the navigation by GNSS, various studies have been conducted to improve the performance of navigation. From GNSS receiver’s point of view, it can be possible to improve the performance of navigation by estimating more accurate position and measurements and developing more robust signal tracking loop in case of temporal signal block or decrement. To improve the accuracy of position and measurements, various studies based on estimation theory and control theory have been tried instead of using conventional loop filter. In this situation, through LQG theory, which combines optimal estimation theory, and optimal control theory, NCO inputs guarantee optimality under particular performance index. In addition, to improve the robustness of the signal tracking loop, vector tracking loop has been proposed. Eventually, by integrating LQG controller and vector tracking loop, LQG based vector tracking loop has been proposed as signal tracking loop. In this paper, simulation tool is developed to verify LQG based vector tracking loop in various conditions. First LQG based scalar tracking loop is designed to verify the performance of LQG controller. Measurements estimation errors in LQG based scalar tracking loop is smaller than those in LF based scalar tracking loop under various user’s dynamic. Second LQG based vector tracking loop is designed. From the simple case, only pseudorange measurement and position state, simulation expands the complex case like pseudorange, carrier phase, and Doppler measurements and position, velocity, and clock bias state. As the number of satellites increase, the position and measurements estimation errors decrease. Also measurements estimation errors decrease compared to LQG based scalar tracking loop. Finally, in case of temporal signal power reduction, LQG based vector tracking loop is more robust than conventional signal tracking loop. From this study, the performance of LQG based vector tracking loop is verified. Before applying LQG based vector tracking loop to GNSS receiver, performance analysis can be achieved rapidly using this simulation tool. ; I. Introduction 1 1. Motivation and Objective 1 2. Trends of Research 4 3. Research Contents and Method 8 4. Contribution 9 II. Signal Tracking Loop of GNSS Receiver 12 1. Structure of GPS Signal 12 2. Structure and Principle of GPS Receiver 15 3. Conventional Signal Tracking Loop 19 4. Structure of Signal Tracking Loop 27 III. LQG based Signal Tracking Loop 31 1. LQG controller 31 2. LQG based Scalar Tracking Loop 34 3. LQG based Vector Tracking Loop 39 IV. Simulation Environment and Results 44 1. Simulation Tool 44 2. Simulation Order 52 3. Measurement Estimation Error of LQG-STL 53 4. Position/Measurement Estimation Error of LQG-VTL 60 V. Conclusion 74 Reference 76 초 록 80 ; Master


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    Title :

    Position and Measurement Accuracy Analysis of GNSS Receiver using LQG based Vector Tracking Algorithm ; LQG 기반 벡터 신호 추적 루프를 적용한 GNSS 수신기의 위치 및 측정치 정확도 분석



    Publication date :

    2017-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    600 / 629



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