A Study on Pseudolite-augmented Positioning Method for AutomatÎc Docking

Park, Sang-Hyun; Cho, Deuk-Jae; Oh, Se-Woong

Journal of Navigation and Port Research 2006;30(10):839-845.
Published online December 30, 2006.

자동접안을 위한 의사위성 보강 측위기법에 관한 연구

박상현, 조득재, 오세웅

A Study on Pseudolite-augmented Positioning Method for AutomatÎc Docking

Sang-Hyun Park, Deuk-Jae Cho, Se-Woong Oh

Abstract

A laser docking system provides a centimeter-level accuracy distance from jetty mounted laser sensors in order to help a vessel to approach to a pier. It is very accurate & useful, whereas there are too many considerable problems. Laser sensors of the laser docking system need to be correctly positioned and installed on a jetty to allow for full range of vessels to be berthed and to consider loading condition and tidal variations. Above all, the laser docking system is expensive and its service coverage is limited. In order to solve these problems, CDCPS positioning method using CPS satellites has been proposed. This paper presents that, through RHDOP simulation, the previous CDCPS positioning method using only CPS satellites is not able to provide the continuous service with centimeter-level positioning accuracy. And this paper proposes a pseudolite-augmented positioning method for vessel docking in order to solve the problem of the continuous service on the previous CDCPS positioning method. In this paper, pseudolite is used to aid in CDCPS positioning. This paper shows that the proposed method can provides the continuous service through comparison analysis of RHDOP simulation results between the CPS satellite constellation and the pseudolite-augmented CPS satellite constellation Furthermore, it is shown that the proposed positioning method satisfies the positioning performance required for vessel automatic docking at a test bed designed for performance evaluation.

Key Words: Automatic docking;Pseudolite;CDGPS;Continuity;RHDOP