International Symposium on

GPS/GNSS 2008

Odaiba, Tokyo, Japan11-14 November 2008

Volume 1 of 3

ISBN: 978-1-61567-649-1

TIB/UB Hannover 89

133 821 986

Technical Papers

1. Agriculture, Mining and Rural Industries

Development of Agricultural Vehicle Navigator: Yasuyuki Hamada, Eiji Makino, Keiji Hanawa,

Yosuke Matsuo, Takashi Yamashita, NationalAgriculture andFood Research Organization, Japan 1

2. Atmospheric Effects

An Evaluation of the practicability of current mapping functions using ray-traced delays from

JMA Mesoscale Numerical Weather Data: Ryuichi Ichikawa, Thomas Hobiger, Yasuhiro Koyama,

kashima Space Research Center, NICT, Japan, Tetsuro Kondo, NJCT, Japan, Department of Space

Survey and Information Technology, Ajou University, Korea 5

Climatological study of GPS total electron content variations caused by medium-scale traveling

ionospheric disturbances: Yuichi Otsuka, STEL, Nagoya Univ., Japan, Nobuki Kotake, Mitsubishi

Electric Corporation. Japan, Tadahiko Ogawa, STEL, Nagoya Univ., Japan, Takuya Tsugawa, NICT,

Japan, Akinori Saito, Kyoto Univ., Japan 13

Correlation Between L-band Scintillation and HF-band Doppler at the Time of Daytime Es

Occurrence Over the Kaato Area in Japan: Ichiro Tomizawa and Takashi F. Shibata, Sugadaira Space

Radio Observatory, The University ofElectro-Communications, Japan 14

Efficient ionospheric model using wavelet for geomagnetic storm: Kyoungho Sohn, Ho Yun and

Changdon Kee, Seoul National University, Korea 15

Feasibility of Using Regional Ionosphere Maps in Single Frequency Precise Point Positioning: A

Case Study in Australia: Suelynn Choy, Kefei Zhang, David Silcock, Lucas Holden, RM1T University,

Australia 16

GPS Near-Real-Time Determination of Water Vapor Distribution over the South Korea: Jihyun Ha,

Kwan-Dong Park, Inha University, Korea 26

GPS Signal Fading due to Scintillation & Multipath and its Impact on Satellite Geometry and

Positioning over Ihc Appleton Anomaly Region: Surendra Sunda, Airports Authority ofIndia, India, B.

M. Vyas, Dept. of Physics, M. L. S. University, India, P.V.Khekale, Space Application Centre (ISRO),

India 27

Ionospheric Disturbances Observed by Ground-Based GPS Receivers in Japan and the World:

Takuya Tsugawa, NICT, Japan, Yuichi Otsuka, STEL, Nagoya Univ., Japan, Akinori Saito, Michi

Nishioka, Kyoto Univ., Japan, Mamoru Ishii, NICT, Japan 35

The Effect of Ionospheric Peculiarities on dGPS: Mardina Abdullah, Siti Sarah Nik Zulkifli, Mahamod

Ismail, Universiti Kebangsaan Malaysia, Malaysia — 36

Kashima Ray-(racing Service (KARATS) - On-line provision of total troposphere slant delay

corrections for East Asian sites: Thomas Hobiger, Ryuichi Ichikawa, Yasuhiro Koyama, Kashima

Space Research Center, NICT, Japan, Tetsuro Kondo, NICT, Japan, Department of Space Survey and

Information Technology, Ajou University, Korea - 40

MSAS Performance Evaluation in the Severe Ionospheric Condition: Nyo Mi Saw, Nobuaki Kubo,

Akio Yasuda, Funai Laboratory of Satellite Navigation, Tokyo University of Marine Science and

Technology, Japan - 45

Plasma bubble monitoring by HF transequatorial propagation and its use for GNSS: Susumu Saito,

Electronic Navigation Research Institute, Japan, Takashi Maruyama, Mamoru Ishii, Minora Kubota,

National Institute of Information and Communications Technology, Japan, Guanyi Ma, Jinghua Li,

Yanhong Chen, Chinese Academy ofSciences, China 46

PPP Algorithms with Troposplieric Delay Estimation Based on GR Models: Seigo Fujita, Kazuhiro

Nishikawa, Yukihiro Kubo, Sueo Sugimoto, Ritsumeikan University, Japan — 47

Retrieving Vertical Electron Density (VED) Profile with Combined Tomography and Abel

Inversion Techniques: Gary Ouyang, Jinling Wang, University ofNew South Wales, Australia 56

Southeast Asia low-latitude ionospheric network (SEALION) for monitoring ionospheric

irregularities: Jyunpei Uemoto, Mamoru Ishii, Minora Kubota, Takashi Maruyama, Jin Hidekatsu,

Takuya Tsugawa, NationalInstitute ofInformation and Communications Technology, Japan

TEC Determination over Single CPS Receiver Station Using PPP Technique: Mardina Abdullah, Siti

Aminah Bahari, Baharudin Yatim, Universiti Kebangsaan Malaysia, Malaysia. 64

3. Crustal Deformation Measurement and Earthquake Prediction

Crustal Deformation Measurement and Earthquake Prediction Characteristics of Crustal Strain in

the Western Kanagawa Prefecture, Japan: Masatake Harada, Hot Springs Research Institute of

Kanagawa Prefecture, Japan, Makiko Iwakuni, Japan Weather Association, Japan, Toshikazu Tanada,

Hot Springs Research Institute ofKanagawa Prefecture, Japan 69

Contribution of thermal expansion of monument and nearby rock to observed GPS height changes:

Wu Chen, Haoming Yan, Yaozhong Zhu, Chinese Academy ofSciences, China, Hong Kong Polytechnic

University, China — 78

Determination of the inter-seismic crustal deformations in the south Longitudinal Valley,

southeastern Taiwan: Horng-Yue Chen, Min-Chien Tsai, Shui-Bei Yu, Shi-sheng Yao, Institute of

Earth Sciences, Academia Sinica, Taiwan 84

Development of crustal monitoring support system: Basara Miyahara, Masayoshi Ishimoto, Hiroshi

Koshimizu, Nobuhiro Ishikura, Satoshi Kawamoto, Tomomi Amagai, Isao Ueda, Geographical Survey

Institute, Japan 94

First experience on automated processing of Thai permanent GPS observations for ground

deformation monitoring and earthquake study: Chalermchon Satirapod, Chulalongkorn University,

Thailand, Horng-Yue Chen,

Institute of Earth Sciences, Academia Sinica, Taiwan, Somchai

Kriengkraiwasin, Chulalongkorn University, Thailand, Phuwieng Prakhammintara, Seismological Bureau,

Thai Meteorological department, Thailand 98

GPS has detected sub-ram level displacement The short-term slow slip in the Tokai by using dense

GPS observation net: Mikio Satomura, Hiroe Hama, Faculty of Science, Shizuoka University, Japan,

Seiichi Shimada, National Research Institutefor Earth Science and Disaster Prevention, Teruyuki Kato,

Earthquake Research Institute, University of Tokyo, Japan, Keizo Sayanagi, Ocean Research Institute,

Tokai University, Japan 104

Monitoring of hydrothcnnal intrusions at IIalamo Volcano inferred from GPS observations:

Satoshi Kawamoto, Geographical Survey Institute, Japan 105

Real-time kinematic GPS analysis of the 2008 Iwate-Miyagi inland earthquake using by 1 Hz data:

Kazutoshi Sato, Hirotaka Obata, Akira Wada, Masayuki Kanzaki, Nippon GPS Solutions Corporation,

Japan, Tetsuya Iwabuchi, Christian Rocken, GPS Solutions lire USA, Teruyuki Kato, Earthquake

Research Institute, University of Tokyo, Japan - 110

Systematic analysis of the present-day crustal deformation in Shanghai based on the mul t i-epoch

GPS measurements: Jianqing Cai, Institute of Geodesy, Stuttgart University, Germany, Jichang Wu, Yi

Lin, Jiexian Wang, Tongji University, China, Erik Grafarend, Institute ofGeodesy, Stuttgart University,

Germany 111

Few-Millimeter-Precise Reduction of Short-Term Noise in Dual-Frequency Carrier-Phase GPS

Positioning Applied to 1-Hz Measurement of Seismic Displacement: Kentaro Kondo, Fujitsu Limited,

Japan - 119

4. Inertial Systems for Positioning & Orientation

Allan Variance Analysis on Error Characters of MEMS Inertial Sensors for an FPGA-based

GPS/INS System: Xin Zhang, Yong Li, Peter Mumford, Chris Rizos, University of New South Wales,

Australia 127

Data Wipe off Method Using Carrier Phase Discriminator for Deeply Coupled GPS/INS

Integration Navigation Systems: Ho Cheol Jeong, Hee Won Kang, Dong-Hwan Hwang and Sang Jeong

Lee, Chan Sik Park, Chungbuk National University, Korea, Jeong Won Kim, Koea Aerospace Research

Institute, Korea, Tae Gyoo Lee and Ki-Won Song, Agency for Defense Development, Korea 134

Identification of IMU Sensor Error Models for GNSS/INS Hybrid Systems: Makoto Tanikawara,

Hitachi Industrial Equipment Systems Co.,Ltd. Japan, Sueo Sugimoto, Yukihiro Kubo, Ritsumeikan

University, Yutaka Shimogaki, Hitachi Ltd, Japan 139

Information Fusion Algorithm for Damping Attitude of Strapdown Inertial Attitude and Heading

Reference System Based on Fault Diagnosis: Jianye Liu, Yanhua Zhu, Rongbing Li, Ping Yang,

Qinghua Zeng, Navigation Research Center, Nanjing University ofAeronautics and Astronautics , China

148

Investigating on the Calibration Method of IMU Based only Acceierometers: Wu Junwei, Lin

Zhiqiang, Automation College, Harbin Engineering University, China —:——155

Magnetic Compass Fault Detection Method for GPS/INS/Magnetic Compass Integrated Navigation

Systems: Sul Gee Park, Ho Cheol Jeong, Kishor P. Vitalkar, Chungnam National University, Korea,

Jeong Won Kim, Korea Aerospace Research Institute, Korea, Dong-Hwan Hwang, Chungnam National

University, Korea, Sang Jeong Lee, Chungnam National University, Korea 159

Performance Improvement of MEMS INS/GPS during GPS Outages using Magnetometer: Takeshi

Fujiwara, Hiroshi Tomita, Toshiaki Tsujii, Masatoshi Harigae, Japan Aerospace Exploration Agency,

Japan 165

Nonlinear Filter Technique & Application in SINS/GPS Integrated Navigation System: Jizhou Lai,

Jianye Liu, Jian Xiong, Yongrong Sun, Nanjing University ofAeronautics andAstronautics, China —173

The Implementation a Simulation Platform for INS/GNSS Integrated Systems: Chih-Yu Hu,

Kai-Wei Chiang, National Cheng Kung University, Taiwan —179

The Use of GPS and INS for Centimetre Positioning Accuracy during Long GPS Outages: Ahmad

Adnan Taha, Craig Hancock, Gethin Roberts, Xiaolin Meng, The University of Nottingham, United

Kingdom 180

5. Intelligent Transport Systems

Inter-Vehicle Positioning System Based on Ad Hoc Wireless Network: Bing Wei, Wu Chen, Xiaoli

Ding, The Hong Kong Polytechnic University, China 190

6. Location Based Services

Empirical Study on RTT Measurement for Authentication Scheme in a DRM System: Arjuiie John

P. Berena, Yusuke Kojima, Takahiro Tsuchiya, Masami Kihara, Nihon University, Japan 196

Enhanced Authentication Scheme based on Network Location for a DRM System: Arjuiie John P.

Berena, Takahito Murofushi, Kanami Kaiho, Masami Kihara, Nihon University, Japan 204

7. Machine Automation and UAVs

Low-Cost Miniature GPS, INS for Small UAVs with Reduced Order Kalman Filter: Rui Hirokawa,

Naoyuki Kajiwawa, Ryusuke Ohata, Mitsubishi Electric Corporation, Japan, Taro Suzuki, Waseda

University, Japan 211

8. Marine, Land and Aviation Applications

A Minimum MEMS Approach to the Inertial Elements of an Integrated Car Navigator: Xin Zhang,

Chuanrun Zhai, Hongliang Xu, Yanhua Zhang, Xingqun Zhan, Institute of Aerospace Science and

Technology', Shanghai Jiao Tong University, China 221

Experiments of GPS/INS Based Integrity Monitoring Using MSAS Differential Correction Data:

Toshiaki Tsujii, Hiroshi Tomita, Takeshi Fujiwara, Masatoshi Harigae, Japan Aerospace Exploration

Agency (JAXA), Japan 226

Extracting the Assessment of Environmental Changes from Satellite Image: Nang Mya Mya Nwe,

Mandalay Technological University, Myanmar, Myint Myint Sein, University of Computer Science,

Myanmar 234

GPS signal tracking loop design for a satellite launcher: Su Bae Jeon, II Kyu Park, Seok Bo Son, Se

Hwan Kim, Young Baek Kim, Hanyang Navicom R&D Center, Korea. 240

GRAIL: Introduction of GNSS in Hie Kail Sector: Alvaro Urech, Maria J. Gareia-Prieto, NECO-TIFSA,

Spain — -244

Improvement of small drifting buoy equipped with GPS and result of the operation: Hiroki Irie,

Yuji Kamikubo, Ikuo Saito, Yatsushiro national College of Technology, Japan, Nagahisa Mita,

Kumamoto University, Japan — — - 251

Experimental Evaluation of Novel Attitude Determination Algorithm Utilizing Single Frequency

GPS/GLONASS Receiver: Wenrui Jin, Chuanrun Zhai, Yanhua Zhang, Xingqun Zhan, Institute of

Aerospace Science and Technology, Shanghai Jiao Tong University, China 259

Observations of Current Direction and Speed by Shipboard ADCP and GPS Reference Data:

Hajime Chiba, Sho-ichi Furuyama, Koji Yokoi, Emi Kanayama, Tayama National College of Maritime

Technology, Japan -- 264

The Wireless System for Marine Sensor Networks: Masashi Yoshida, Salesian Polytechnic, Japan,

Harumasa Hojo, Sensor Comm Co., Ltd., Japan, Akio Yasuda, Tokyo University ofMarine Science and

Technology, Japan 269

The World's Only Certificated GPS-based Precision Approach System - The Way from the

Decision to the Operational System: BOrje Forssell, Norwegian University) ofScience and Technology,

Trondheim, Norway, Steinar Hamar, Avinor, Oslo, Norway 277

9. Navigation Systems and Applications

A Low-Cost Integrated Navigation System Based on 1 Mil/Magnetic. Compass/Velocity

Log/Altimeter: Ping Ye, Chuanrun Zhai, Haowen Wu, Yanhua Zhang, Xingqun Zhan, Institute of

Aerospace Science and Technology, Shanghai Jiao Tong University, China 284

Accuracy Evaluation of MEMS INS/GPS for small UAVs: Masaru Naruoka, Hiroki Taniguchi,

Takeshi Tsuchiya, The University of Tokyo, Japan 291

Algorithms for prediction of INS estimated Doppler in Ultra-tight Integration: Ravindra Babu,

Aerospace, Defense and Satellite, Wipro Technologies, India, Jinling Wang, School of Surveying &

Spatial Info, UNSW, Australia, Gottapu Rao, ECE, College ofEngg, Andhra University, India 300

Applications of Robust Kalman Filtering Schemes in GNSS Navigation: Jinling Wang, University) of

New South Wales, Sydney, Australia. Changhui Xu, Jian Wang, China University of Mining and

Technology', China — 308

Artificial Jam-resistant Integrated Navigation System for Unmanned Helicopter: Mikhail N.

Krasilshchikov, Dmitry A. Kozorez, Kirill I. Sypalo, Moscow Aviation Institute (State Technical

University), Russia 317

Concept of a Secure and Safety Tracking System for Goods using QZSS and RF-ID: Koichi Chino,

Dinesh Manandhar, Ryosuke Shibasaki, Centerfor Spatial Information Science, The University ofTokyo,

Japan 321

Correcting atmospheric and ionospheric delay in KAGUV'A V'LBI observations using GPS

technique: Qinghui Liu, Fuyuhiko Kikuchi, Sander Goossens, Koji Matsumoto, Yoshiaki Tamura, Yuji

Harada, Natalia Petrova, Yoshiaki Ishihara, Hideo Hanada, Kazuyoshi Asari, Toshiaki Ishikawa, Seiitsu

Tsuruta, Nobuyuki Kawano, Sho Sasaki, Hirotomo Noda, National Astronomical Observatory, Japan,

Jingsong Ping, Xian Shi, Shanghai Astronomical Observatory, China Takahiro Iwata, JAXA,

Japaw.Noriyuki Namiki, Kyushu University, Japan 327

Development of Cognitive Software Receivers for the JVlulti-GNSS Satellite: Shota Ishikawa, Ryuei

Yamada, Yuki Ito, Takuya Shinno, Fujinobu Takahashi, Yokohama National University 328

Development of Software GNSS Signal Generator: Jae-Eun Lee, Tae-Hee Kim, Sanguk Lee, Jaehoon

Kim, Electronics and Telecommunications Research Institute (ETRI), Koera 332

Flight Evaluation of a GPS Attitude Determination Algorithm: Dr. Nelson Paiva Oliveira Leite,

Grupo Especial de Ensaios em V6o (GEEV),Brazil,? Fernando Walter, Institute) Tecnologico de

Aerondutica (ITA), Brazil - 338

Future GNSS Constellation Design Considering Compatibility and Interoperability: Wei Liu,

Chuanrun Zhai, Yanhua Zhang, Xingqun Zhan, Institute ofAerospace Science and Technology, Shanghai

Jiao Tong University, China - 347

Fuzzy Strong Tracking Unscented Kalraan Filter Design for Integrated Navigation: Dah-Jing Jwo,

Shih-Yao Lai, National Taiwan Ocean University, Taiwan 353

GNSS, RFI.D and INS Integration for Pedestrian Navigation: Guenther Retscher, Qing Fu, Vienna

University ofTechnology', Austria 363

HARDWARE-IN-THE-LOOP TEST FOR FORMOSAT-5 GPS RECEIVER: Ming-Yu Yeh,

Wei-Ting Wei, Ying-Wen Jan, National Space Organization (NSPO), Taiwan 374

High Fidelity Simulation of GPS measurements for Space-based Navigation System Design: Liduan

Wang, Chuanrun Zhai, Xin Zhang, Xingqun Zhan, Shanghai Jiao Tong University, China 380

Hybrid of Support Vector Machines and Kalman Filter for GPS/INS Integration: Zhenkai Xu,

Southeast University, Nanjing, China, Yong Li, Chris Rizos, University ofNew South Wales, Australia,

Xiaosu Xu, Southeast University, Nanjing, China — 389

Improvement of GPS Capabilities by QZSS in Asia and Oceania Region: Satoshi Kogure, Japan

Aerospace Exploration Agency, Japan —395

Integrity Monitoring-Oriented Researches for Satellite Navigation System: Jing Zhang, Wei Wang,

Xiaofeng Fu, National University ofDefense Technology, China 402

Low Cost I.F/RF Navigation Validation Platform with Integrated Traffic Message Channel

Simulation: Hie I., Fortin D., Leblanc A., Averna Technologies inc.Canada Fortin M.-A., Ecole de

Technologic Superieure, Canada 407

Monitoring the Degree of Observability in Integrated CPS/INS Systems: Songlai Han, Jinling Wang,

University ofNew South Wales, Australia -

-414

On the Availability of DGPS System Based on Terrestrial Digital One-segment Broadcasting:

Masashi Kawai, Toyama National College of Maritime Technology, Japan, Takeyasu Sakai, Electronic

Navigation Research Institute, Japan Minora Yamamoto, Kitanihon Broadcasting Co. LTD., Japan,

Hideki Kadomura, Toyama National College of Maritime Technology, Japan Akio Yasuda, Tokyo

University ofMarine Science and Technology, Japan 422

Performance Evaluation of an Enhanced software GNSS IF signal generator: Liu Meilin, Deok Won

Lim, Sang Jeong Lee, Chansik Park, Chimgnam National University, Korea 428

Patent Pools for Personal Navigation Devices: Bill Geary, MPEG LA, LLC, USA 433

The I KF and CDK.F for Low-cost SDINS/GPS In-motion Alignment: Qin Wang, Beijing Institute of

Technology, China, University of New South Wales, Australia, Yong Li, Chris Rizos, University ofNew

South Wales, Sydney, Australia, Shiyi Li, BeijingInstitute of Technology, China 441

10. New Products and Applications

GNSS Testing for a Multi-GNSS, Multi-Sensor World: John Pottle, Steve Hickling, Spirent

Communications pic, UnitedKingdom 449

GPS Expansion with GEO Satellites: Osamu Ichiyoshi, Human Networkfor Better 21 Centwy, Japan -

- — 450

IMES for Mobile Users Social Implementation and Experiments based on Existing Cellular Phones

for Seamless Positioning: Dinesh Manandhar, Seiya Kawaguchi, Masayuki Uchida, Makoto Ishii,

Hideyuki Torimoto, GNSS Technologies Inc., Japan — 455

Low Cost, Low Power Geotagging Solution for Digital Cameras: Alison Brown, Jim Dalrymple,

NAVSYS Corporation.USA, Peter Brown, NAVSYS Lt, USA, Frank Ricotta, TIDGET Technologies Inc.

USA 461

magicGNSS: Quality Data, Algorithms and Products for the GNSS User Community: Alvaro Mozo,

Ricardo Piriz, Miguel M. Romay Merino, Ignacio Alcantarilla, GMV, Spain 466

Performance Evaluation of a Software GPS Receiver for Mid-End Host Platforms: T. Jokitalo, H.

Kuusniemi, S. Soderholm, H. Naukkarinen, Fastrax Ltd, Finland 476

Performance Evaluation of the Multi-Constellation and Multi-Frequency GNSS RF Navigation

Constellation Simulator NavX®-NCS: Guenter Heinrichs, Markus Irsigler, and Robert Wolf, 1FEN

GmbH, Germany, Guenther Prokoph, Work Microwave GmbH, Germany — -- 483

11. Non-Satellite Positioning, Pseudolite and Indoor application

A Multipath Mitigation Method for 1R-UWB Location System: Seung-Hun Song, Chan-Bock Song,

Wangrok Oh, Tae-Kyung Sung, Chungnam National University, Korea, Mi-Kyung Oh, Jae-Young Kim,

Electronics and Telecommunications Research Institute, Korea, 488