센티미터 급 광역 보강항법 시스템의 반송파 위상 기반 보정정보 생성 알고리즘에 관한 연구

학위논문(박사)--서울대학교 대학원 :공과대학 기계항공공학부,2020. 2. 기창돈.Recently, the demand for high-precision navigation systems for centimeter-level service has been growing rapidly for various Global Navigation Satellite System (GNSS) applications. The network Real-Time Kinematic (RTK) is one of the candidate solution to provide high-accuracy position to user in real-time. However, the network RTK requires a lot of reference stations for nationwide service. Furthermore, it requires high-speed data-link for broadcasting their scalar-type corrections. This dissertation proposed a new concept of satellite augmentation system called Compact Wide-Area RTK, which provides centimeter-level positioning service on national or continental scales to overcoming the limitation of the legacy network RTK methods. Using the wide-area network of multiple reference stations whose distance is 200~1,000 km, the proposed system generates three types of carrier-phase-based corrections: satellite orbit corrections, satellite code/phase clock (CPC) corrections, tropospheric corrections. Through the strategy of separating the scalar-type corrections of network RTK into vector forms of each error component, it is enable to expand network RTK coverage to continental scale using a similar number of reference stations as legacy meter-level Satellite-Based Augmentation System (SBAS). Furthermore, it is possible to broadcast their corrections over a wide-area using geosynchronous (GEO) satellite with extremely low-speed datalink of 250 bps likewise of legacy SBAS. To sum up, the proposed system can improve position accuracy by centimeter-level while maintaining the hardware infrastructure of the meter-level legacy SBAS. This study mainly discussed on the overall system architecture and core algorithms for generating satellite CPC corrections and tropospheric corrections. This study proposed a new Three-Carrier Ambiguity Resolution (TCAR) algorithm using ionosphere-free combinations to correctly solve the integer ambiguity in wide-area without any ionospheric corrections. The satellite CPC corrections are calculated based on multiple stations for superior and robust performance under communication delay and outage. The proposed algorithm dramatically reduced the latency compensation errors and message amounts with compare to conventional RTK protocols. The tropospheric corrections of the compact wide-area RTK system are computed using GPS-estimated precise tropospheric delay and weather data based model together. The proposed algorithm adopts spherical harmonics function to significantly reduce the message amounts and required number of GPS reference stations than the network RTK and Precise Point Positioning-RTK (PPP-RTK), while accurately modeling the spatial characteristic of tropospheric delay with weather data together. In order to evaluate the user domain performance of the compact wide-area RTK system, this study conducted the feasibility test on mid-west and south USA using actual GPS measurements. As a result, the 95% horizontal position error is about 1.9 cm and the 95% vertical position error is 7.0 cm after the integer ambiguity is correctly fixed using GPS-only signals. The user ambiguity resolution takes about 2 minutes, and success-fix rate is about 100 % when stable tropospheric condition. In conclusion, the compact wide-area RTK system can provide centimeter-level positioning service to wide-area coverage with extremely low-speed data link via GEO satellite. We hope that this new system will consider as candidate solution for nationwide centimeter-level service such as satellite augmentation system of the Korea Positioning System (KPS).최근 자율주행자동차, 무인 드론 배송, 충돌 회피, 무인트랙터를 이용한 스마트 무인 경작 등 위성항법시스템(GNSS, Global Navigation Satellite System)을 사용하는 다양한 응용분야에서 수 cm 수준의 정밀 위치 정보에 대한 요구가 급격히 증가하고 있다. 본 학위논문에서는 1 m 급의 정확하고 신뢰성 높은 위치 서비스를 제공하는 기존의 정지궤도위성 기반 광역 보강항법 시스템(SBAS, Satellite-Based Augmentation System)의 기준국 인프라를 유지하면서 항법 성능을 수 cm 수준으로 향상시키기 위해 반송파 위상 기반의 초정밀 보정정보 생성 알고리즘에 관한 연구를 수행하였다. 실시간 정밀 측위(RTK, Real-Time Kinematic)는 반송파 위상 측정치에 포함된 미지정수를 정확하게 결정하여 수 cm 수준의 정밀 항법 서비스를 가능하게 하는 대표적인 기법이다. 그 중에서도 약 50~70 km 간격으로 분포된 다수의 기준국 정보를 활용하는 Network RTK 기법은 동적 사용자의 빠르고 정확한 위치 결정이 가능한 인프라로서 주목받고 있다. 하지만 스칼라 형태로 구성된 Network RTK 보정정보는 각 기준국 별로 관측된 위성 수에 따라 생성이 되기 때문에 보정 데이터 량이 상당히 방대하다. 메시지 전송에 필요한 데이터 량이 많을수록 고속의 통신 환경을 필요로 하며, 메시지 시간 지연이나 통신 단절에 매우 취약한 문제를 가지고 있다. 또한 스칼라 형태의 보정정보는 사용자와 기준국 간의 거리가 멀어질수록 보정 오차가 크게 발생하기 때문에 대륙 혹은 나라 규모의 광역에서 서비스하기 위해서는 수십~수백 개 이상의 기준국 인프라 구축이 필수적이다. 예를 들어, SBAS가 한반도 지역 서비스를 위해 5~7개의 기준국이 필요한 반면 Network RTK는 90~100개의 기준국이 필요하다. 즉 Network RTK는 시스템 구축 및 유지 비용이 SBAS 대비 약 15배 정도 많이 들게 된다. 본 논문에서는 기존 Network RTK의 문제점을 해결하기 위한 방법으로 대륙 급 광범위한 영역에서 실시간으로 cm급 초정밀 위치결정 서비스 제공이 가능한 Compact Wide-Area RTK 라는 새로운 개념의 광역보강항법시스템 아키텍처를 제안하였다. Compact Wide-Area RTK는 약 200~1,000 km 간격으로 넓게 분포된 기준국 네트워크를 활용하여 반송파 위상 기반의 정밀한 위성 궤도 보정정보, 위성 Code/Phase 시계 보정정보, 대류층 보정정보를 생성하는 시스템이다. 기존 스칼라 형태의 Network RTK 보정정보 대신 오차 요소 별 벡터 형태의 정밀 보정정보를 생성함으로써 데이터 량을 획기적으로 절감하고 서비스 영역을 확장할 수 있다. 최종적으로 SBAS와 마찬가지로 250 bps의 저속 통신 링크를 가진 정지궤도위성을 통해 광역으로 보정정보 방송이 가능하다. 본 논문에서는 3가지 보정정보 중 위성 Code/Phase 시계 보정정보와 대류층 보정정보 생성을 위한 핵심 알고리즘에 대해 중점적으로 연구하였다. 반송파 위상 기반의 정밀 보정정보 생성을 위해서는 먼저 미지정수를 정확하게 결정해야 한다. 본 논문에서는 삼중 주파수 반송파 위상 측정치의 무-전리층 조합을 활용하여 전리층 보정정보 없이도 정확하게 미지정수 결정 가능한 새로운 방법을 제안하였다. 위성 Code/Phase 시계 보정정보는 통신 지연 및 고장 시 우수하고 강건한 성능을 위해 다중 기준국의 모든 측정치를 활용하여 추정된다. 이 때 각 기준국 별 서로 다른 미지정수 때문에 발생하는 문제는 앞서 정확하게 결정된 기준국 간 이중차분 된 미지정수를 활용하여 수준을 조정하는 과정을 통해 해결이 가능하다. 그 결과 생성된 위성 Code/Phase 보정정보 메시지의 크기, 변화율, 잡음 수준이 크게 개선되었고, 통신 지연 시 오차 보상 성능이 기존 RTK 프로토콜 보다 99% 향상 됨을 확인하였다. 대류층 보정정보는 적은 수의 기준국 만을 활용하여 정확하게 대류층을 모델링하기 위해 자동 기상관측시스템으로부터 수집한 기상 정보를 추가로 활용하여 생성된다. 본 논문에서는 GNSS 기준국 네트워크로부터 정밀하게 추정된 반송파 위상 기반 수직 대류층 지연과 기상정보 기반으로 모델링 된 수직 대류층 지연을 함께 활용할 수 있는 새로운 알고리즘을 제안하였다. 구면조화함수를 사용하여 Network RTK 및 PPP-RTK 보다 필요한 메시지 양과 기준국 수를 크게 감소시키면서도 RMS 2 cm 수준으로 정확한 보정정보 생성이 가능함을 확인하였다. 본 논문에서 제안한 Compact Wide-Area RTK 시스템의 항법 성능을 검증하기 위해 미국 동부 지역 6개 기준국의 실측 GPS 데이터를 활용하여 테스트를 수행하였다. 그 결과 제안한 시스템은 미지정수 결정 이후 사용자의 95% 수평 위치 오차 1.9 cm, 95% 수직 위치 오차 7.0 cm 로 위치를 정확하게 결정하였다. 사용자 미지정수 결정 성능은 대류층 안정 상태에서 약 2분 내로 100% 의 성공률을 가진다. 본 논문에서 제안한 시스템이 향후 한국형 위성항법 시스템(KPS, Korean Positioning System)의 전국 단위 센티미터 급 서비스를 위한 알고리즘으로 활용되기를 기대한다.CHAPTER 1. Introduction 1 1.1 Motivation and Purpose 1 1.2 Former Research 4 1.3 Outline of the Dissertation 7 1.4 Contributions 8 CHAPTER 2. Overview of GNSS Augmentation System 11 2.1 GNSS Measurements 11 2.2 GNSS Error Sources 14 2.2.1 Traditional GNSS Error Sources 14 2.2.2 Special GNSS Error Sources 21 2.2.3 Summary 28 2.3 GNSS Augmentation System 29 2.3.1 Satellite-Based Augmentation System (SBAS) 29 2.3.2 Real-Time Kinematic (RTK) 32 2.3.3 Precise Point Positioning (PPP) 36 2.3.4 Summary 40 CHAPTER 3. Compact Wide-Area RTK System Architecture 43 3.1 Compact Wide-Area RTK Architecture 43 3.1.1 WARTK Reference Station (WRS) 48 3.1.2 WARTK Processing Facility (WPF) 51 3.1.3 WARTK User 58 3.2 Ambiguity Resolution and Validation Algorithms of Compact Wide-Area RTK System 59 3.2.1 Basic Theory of Ambiguity Resolution and Validation 60 3.2.2 A New Ambiguity Resolution Algorithms for Multi-Frequency Signals 65 3.2.3 Extra-Wide-Lane (EWL) Ambiguity Resolution 69 3.2.4 Wide-Lane (WL) Ambiguity Resolution 71 3.2.5 Narrow-Lane (NL) Ambiguity Resolution 78 3.3 Compact Wide-Area RTK Corrections 83 3.3.1 Satellite Orbit Corrections 86 3.3.2 Satellite Code/Phase Clock (CPC) Corrections 88 3.3.3 Tropospheric Corrections 89 3.3.4 Message Design for GEO Broadcasting 90 CHAPTER 4. Code/Phase Clock (CPC) Correction Generation Algorithm 93 4.1 Former Research of RTK Correction Protocol 93 4.1.1 Observation Based RTK Data Protocol 93 4.1.2 Correction Based RTK Data Protocol 95 4.1.3 Compact RTK Protocol 96 4.2 Satellite CPC Correction Generation Algorithm 100 4.2.1 Temporal Decorrelation Error Reduced Methods 102 4.2.2 Ambiguity Level Adjustment 105 4.2.3 Receiver Clock Synchronization 107 4.2.4 Averaging Filter of Satellite CPC Correction 108 4.2.5 Ambiguity Re-Initialization and Message Generation 109 4.3 Correction Performance Analysis Results 111 4.3.1 Feasibility Test Environments 111 4.3.2 Comparison of RTK Correction Protocol 113 4.3.3 Latency Compensation Performance Analysis 116 4.3.4 Message Data Bandwidth Analysis 119 CHAPTER 5. Tropospheric Correction Generation Algorithm 123 5.1 Former Research of Tropospheric Correction 123 5.1.1 Tropospheric Corrections for SBAS 124 5.1.2 Tropospheric Corrections of Network RTK 126 5.1.3 Tropospheric Corrections of PPP-RTK 130 5.2 Tropospheric Correction Generation Algorithm 136 5.2.1 ZWD Estimation Using Carrier-Phase Observations 138 5.2.2 ZWD Measurements Using Weather Data 142 5.2.3 Correction Generation Using Spherical Harmonics 149 5.2.4 Correction Applying Method for User 157 5.3 Correction Performance Analysis Results 159 5.3.1 Feasibility Test Environments 159 5.3.2 Zenith Correction Domain Analysis 161 5.3.3 Message Data Bandwidth Analysis 168 CHAPTER 6. Compact Wide-Area RTK User Test Results 169 6.1 Compact Wide-Area RTK User Process 169 6.2 User Performance Test Results 173 6.2.1 Feasibility Test Environments 173 6.2.2 User Range Domain Analysis 176 6.2.3 User Ambiguity Domain Analysis 182 6.2.4 User Position Domain Analysis 184 CHAPTER 7. Conclusions 189 Bibliography 193 초 록 207Docto

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Un dels aspectes claus en el disseny i gestió de les xarxes sense fils d'accés de banda ampla és l'ús eficient dels recursos radio. Des del punt de vista de l'operador, l'ample de banda és un bé escàs i preuat que s´ha d'explotar i gestionar de la forma més eficient possible tot garantint la qualitat del servei que es vol proporcionar. Per altra banda, des del punt de vista del usuari, la qualitat del servei ofert ha de ser comparable al de les xarxes fixes, requerint així un baix retard i una baixa pèrdua de paquets per cadascun dels fluxos de dades entre la xarxa i l'usuari. Durant els darrers anys s´han desenvolupat nombroses tècniques i algoritmes amb l'objectiu d'incrementar l'eficiència espectral. Entre aquestes tècniques destaca l'ús de múltiples antenes al transmissor i al receptor amb l'objectiu de transmetre diferents fluxos de dades simultaneament sense necessitat d'augmentar l'ample de banda. 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Durante los últimos años el número de técnicas y algoritmos que tratan de incrementar la eficiencia espectral en dichas redes es bastante amplio. Entre estas técnicas destaca el uso de múltiples antenas en el transmisor y en el receptor con el objetivo de poder transmitir simultáneamente diferentes flujos de datos sin necesidad de incrementar el ancho de banda. Por otro lado, la optimización conjunta de la capa de acceso al medio y la capa física (utilizando información de estado del canal para gestionar de manera óptima los recursos) también permite incrementar sensiblemente la eficiencia espectral del sistema.El objetivo de esta tesis es el estudio y desarrollo de nuevas técnicas de adaptación del enlace y la gestión de los recursos radio, y su posterior aplicación sobre los sistemas de acceso radio de próxima generación (Beyond 3G). Los estudios realizados parten de la premisa de que el transmisor conoce (parcialmente) el estado del canal a la vez que se considera que la transmisión se realiza sobre un sistema de transmisión multiportadora con múltiple antenas en el transmisor y el receptor. La tesis se centra sobre dos líneas de investigación, la primera para casos de una única antena en cada lado del enlace, y la segunda en caso de múltiples antenas en cada lado. Para el caso de una única antena en el transmisor y en el receptor, se ha desarrollado un nuevo esquema de asignación de los recursos radio así como de priorización de los paquetes de datos (scheduling) integrando ambas funciones sobre una misma entidad (cross-layer). El esquema propuesto tiene como principal característica su bajo coste computacional a la vez que se puede aplicar en caso de transmisiones multimedia. Posteriores mejoras realizadas por el autor sobre el esquema propuesto han permitido también reducir los requisitos de señalización así como combinar de forma óptima usuarios de alta y baja movilidad. Por otro lado, en caso de enlaces con múltiples antenas en transmisión y recepción, se presenta un nuevo esquema de adaptación en el cual se combina la selección de la(s) antena(s) transmisora(s) con la selección del esquema de codificación espacio-(frecuencia-) tiempo. Para finalizar, se dan una serie de recomendaciones con el objetivo de combinar ambas líneas de investigación, así como un estado del arte de las técnicas propuestas por otros autores que combinan en parte la gestión de los recursos radio y los esquemas de transmisión con múltiples antenas.In Broadband Wireless Access systems the efficient use of the resources is crucial from many points of views. From the operator point of view, the bandwidth is a scarce, valuable, and expensive resource which must be exploited in an efficient manner while the Quality of Service (QoS) provided to the users is guaranteed. On the other hand, a tight delay and link quality constraints are imposed on each data flow hence the user experiences the same quality as in fixed networks. During the last few years many techniques have been developed in order to increase the spectral efficiency and the throughput. Among them, the use of multiple antennas at the transmitter and the receiver (exploiting spatial multiplexing) with the joint optimization of the medium access control layer and the physical layer parameters.In this Ph.D. thesis, different adaptive techniques for B3G multicarrier wireless systems are developed and proposed focusing on the SS-MC-MA and the OFDM(A) (IEEE 802.16a/e/m standards) communication schemes. The research lines emphasize into the adaptation of the transmission having (Partial) knowledge of the Channel State Information for both; single antenna and multiple antenna links. For single antenna links, the implementation of a joint resource allocation and scheduling strategy by including adaptive modulation and coding is investigated. A low complexity resource allocation and scheduling algorithm is proposed with the objective to cope with real- and/or non-real- time requirements and constraints. A special attention is also devoted in reducing the required signalling. However, for multiple antenna links, the performance of a proposed adaptive transmit antenna selection scheme jointly with space-time block coding selection is investigated and compared with conventional structures. In this research line, mainly two optimizations criteria are proposed for spatial link adaptation, one based on the minimum error rate for fixed throughput, and the second focused on the maximisation of the rate for fixed error rate. Finally, some indications are given on how to include the spatial adaptation into the investigated and proposed resource allocation and scheduling process developed for single antenna transmission

Quasi-deterministic channel modeling and experimental validation in cooperative and massive MIMO deployment topologies

Das enorme Wachstum des mobilen Datenaufkommens wird zu substantiellen Veränderungen in mobilen Netzwerken führen. Neue drahtlose Funksysteme müssen alle verfügbaren Freiheitsgrade des Übertragungskanals ausnutzen um die Kapazität zu maximieren. Dies beinhaltet die Nutzung größerer Bandbreiten, getrennter Übertragungskanäle, Antennenarrays, Polarisation und Kooperation zwischen Basisstationen. Dafür benötigt die Funkindustrie Kanalmodelle, welche das wirkliche Verhalten des Übertragungskanals in all diesen Fällen abbilden. Viele aktuelle Kanalmodelle unterstützen jedoch nur einen Teil der benötigten Funktionalität und wurden nicht ausreichend durch Messungen in relevanten Ausbreitungsszenarien validiert. Es ist somit unklar, ob die Kapazitätsvorhersagen, welche mit diesen Modellen gemacht werden, realistisch sind. In der vorliegenden Arbeit wird ein neuen Kanalmodell eingeführt, welches korrekte Ergebnisse für zwei wichtige Anwendungsfälle erzeugt: Massive MIMO und Joint-Transmission (JT) Coordinated Multi-Point (CoMP). Dafür wurde das häufig verwendete WINNER Kanalmodell um neue Funktionen erweitert. Dazu zählen 3-D Ausbreitungseffekte, sphärische Wellenausbreitung, räumliche Konsistenz, die zeitliche Entwicklung von Kanälen sowie ein neues Modell für die Polarisation. Das neue Kanalmodell wurde unter dem Akronym "QuaDRiGa" (Quasi Deterministic Radio Channel Generator, dt.: quasideterministischer Funkkanalgenerator) eingeführt. Um das Modell zu validieren wurden Messungen in Dresden und Berlin durchgeführt. Die Messdaten wurden zunächst verwendet um die Modellparameter abzuleiten. Danach wurden die Messkampagnen im Modell nachgestellt um die Reproduzierbarkeit der Ergebnisse nachzuweisen. Essentielle Leistungsindikatoren wie z.B. der Pfadverlust, die Laufzeitstreuung, die Winkelstreuung, der Geometriefaktor, die MIMO Kapazität und die Dirty-Paper-Coding Kapazität wurden für beide Datensätze berechnet. Diese wurden dann miteinander sowie mit Ergebnissen aus dem Rayleigh i.i.d. Modell und dem 3GPP-3D Kanalmodell verglichen. Für die Messungen in Dresden erzeugt das neue Modell nahezu identische Ergebnisse wenn die nachsimulierten Kanäle anstatt der Messdaten für die Bestimmung der Modellparameter verwendet werden. Solch ein direkter Vergleich war bisher nicht möglich, da die vorherigen Modelle keine ausreichend langen Kanalsequenzen erzeugen können. Die Kapazitätsvorhersagen des neuen Modells sind zu über 90% korrekt. Im Vergleich dazu konnte das 3GPP-3D Model nur etwa 80% Genauigkeit aufweisen. Diese Vorhersagen konnten auch für das Messszenario in Berlin gemacht werden, wo mehrere Basisstationen zeitgleich vermessen wurden. Dadurch konnten die gegenseitigen Störungen mit in die Bewertung eingeschlossen werden. Die Ergebnisse bestätigen die generelle Annahme, dass es möglich ist den Ausbreitungskanal sequenziell für einzelne Basisstationen zu vermessen und danach Kapazitätsvorhersagen für ganze Netzwerke mit der Hilfe von Modellen zu machen. Das neue Modell erzeugt Kanalkoeffizienten welche ähnliche Eigenschaften wie Messdaten haben. Somit können neue Algorithmen in Funksystemen schneller bewertet werden, da es nun möglich ist realistische Ergebnisse in einem frühen Entwicklungsstadium zu erhalten.The tremendous growth of mobile data traffic will lead to substantial architectural changes in wireless networks. New wireless systems need to exploit all available degrees of freedom in the wireless channel such as wider bandwidth, multi-carrier operation, large antenna arrays, polarization, and cooperation between base stations, in order to maximize the performance. The wireless industry needs channel models that reproduce the true behavior of the radio channel in all these use cases. However, many state-of-the-art models only support parts of the required functionality and have not been thoroughly validated against measurements in relevant propagations scenarios. It is therefore unclear if the performance predictions made by these models are realistic. This thesis introduces a new geometry-based stochastic channel model that creates accurate results for two important use cases: massive multiple-input multiple-output (MIMO) and joint transmission (JT) coordinated multi-point (CoMP). For this, the popular WINNER channel model was extended to incorporate 3-D propagation, spherical wave propagation, spatial consistency, temporal evolution of channels, and a new model for the polarization. This model was introduced under the acronym ``QuaDRiGa'' - quasi deterministic radio channel generator. To validate the model, measurements were done in downtown Dresden, Germany, and downtown Berlin, Germany. Those were used to derive the model parameters. Then, the measurements were resimulated with the new channel model and benchmarked against the Rayleigh i.i.d. model and the 3GPP-3D channel model. Essential performance indicators such as path gain, shadow fading, delay spread, angular spreads, geometry factor, single-link capacity, and the dirty-paper coding capacity were computed from both the measured and resimulated data. In Dresden, the resimulated channels produce almost identical results as the measured channels. When using the resimulated channels to derive the model parameters, the same results can be obtained as when using the measurement data. Such a direct comparison was not possible with the previous models because they cannot produce sufficiently long sequences of channel data. The performance predictions from the new model are more than 90% accurate whereas only 80% accuracy could be achieved with the 3GPP-3D model. In Berlin, accurate performance predictions could also be made in a multi-cellular environment where the mutual interference between the base stations could be studied. This confirms that it is generally sufficient to use single-link measurements to parameterize channel models that are then used to predict the achievable performance in wireless networks. The new model can generate channel traces with similar characteristics as measured data. This might speed up the evaluation of new algorithms because it is now possible to obtain realistic performance results already in an early stage of development