http://jecei.srttu.

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Journal of Electrical and Computer Engineering Innovations
JECEI, Vol. 1, No. 1, 2013
Regular Paper

43
J. Elec. Comput. Eng. Innov. 2013, Vol. 1, No. 1, pp. 43-50
SRTTU
RTDGPS Implementation by Online Prediction of GPS Position
Components Error Using GA-ANN Model
M.H. Refan
1,*
and A. Dameshghi
2

1
uPS Reseaich Lab., Faculty of ECE, Shahiu Rajaee Teachei Tiaining 0niveisity, Tehian, Iian
2
Electiical anu Computei Engineeiing Faculty, Shahiu Rajaee Teachei Tiaining 0niveisity, Tehian, Iian
*Coiiesponuing Authoi: iefansittu.euu


ARTICLE INFO

ABSTRACT

ARTICLE HISTORY:
Receiveu 17 Apiil 2u1S
Reviseu 27 Apiil 2u1S
Accepteu 14 Nay 2u1S
If both Refeience Station (RS) anu navigational uevice in Biffeiential
ulobal Positioning System (BuPS) ieceive signals fiom the same satellite,
RS Position Components Eiioi (RPCE) can be useu to compensate foi
navigational uevice eiioi. This ieseaich useu hybiiu methou foi RPCE
pieuiction which was collecteu by a low-cost uPS ieceivei. It is a
combination of uenetic Algoiithm (uA) computing anu Aitificial Neuial
Netwoik (ANN). uA was useu foi weight optimization anu RS anu Nobile
Station (NS) weie implementeu by the softwaie. The expeiimental
iesults uemonstiateu which uA-ANN hau gieat appioximation ability anu
suitability in pieuiction; uA-ANNs pieuiction' RNS eiiois weie less than
u.12 m. The simulation iesults with ieal uata showeu that position
components' RNS eiiois in NS weie less than u.S1 m aftei RPCE
pieuiction.

KEYWORDS:
BuPS
ANN
RPCE Pieuiction
uA


1. INTRODUCTION
ulobal Positioning System (uPS) is a location
system baseu on constellation of at least 24 satellites
oibiting the eaith at altituues of appioximately 11,uuu
miles |1j. uPS allows piopeily equippeu useis to
ueteimine theii position iefeienceu on the measuieu
pseuuo-ianges to at least foui satellites. uPS
positioning accuiacy is limiteu by measuiement
eiiois |2j. These eiiois can combine anu become
significant anu incluue satelliteieceivei clocks,
satellite oibits, anu multipath, anu Selective
Availability (SA) anu uPS ieceiveis' inteinal ciicuitiy
|Sj. In oiuei to iecovei accuiacy of uPS, uiffeiential
techniques must be applieu. Biffeiential ulobal
Positioning System (BuPS) is a potential means foi
impioving navigation accuiacy in a local aiea. A single
BuPS monitoi station in a known location can
compute iange eiioi coiiections foi all the uPS
satellites in view. These eiioi coiiections aie then
bioaucast to useis in the vicinity. By applying
coiiections to the ieceiveu signals, a usei within a
1uukm iange can typically impiove accuiacy. The
ability of BuPS in pioviuing ieal-time sub metei oi
even uecimetei level accuiacy has ievolutionizeu
agiicultuial inuustiy |4j. If both Refeience Station
(RS) anu navigational uevice in BuPS ieceive signals
fiom the same satellite, RS Position Components Eiioi
(RPCE) can be useu to compensate foi navigational
uevice eiioi. The RPCE is calculateu as follows:
E

= P

(1)
wheie P =(x_n,y_n,z_n ) is estimateu vectoi of RS at
time n anu 0 =(x_b,y_b,z_b) is known vectoi of RS |Sj.
The piocess incluues ieceiving anu piocessing spatial
cooiuinates, calculating RPCE anu senuing it, which
takes about 2 sec. Thus, RS iequiies RPCE pieuiction
to compensate foi NS eiioi. Foi pieuiction, the
pieuictois take a seiies of uiffeiences such as (E(n) )
,(E(n-1) ) ,,(E(N-P)) anu use these values to
pieuict (E((n+N) ) ) |6j. Aitificial Neuial Netwoiks
(ANNs) apply piinciples fiom neuiology to finu
patteins in complex uata anu have successfully been
useu to pieuiction. In this papei, evolutionaiy uesign
of an ANN mouel was uiscusseu foi RPCE pieuicting
M. H. Refan et al.

44
anu uenetic Algoiithm (uA) was useu foi weight
optimization of ANN. ANNs have been shown to have
the potential of well peifoimance foi classification
pioblems in many uiffeient enviionments, incluuing
business, science anu engineeiing. A majoiity of the
stuuies have ielieu on a giauient algoiithm, typically
vaiiation of Back Piopagation (BP), to obtain weights
of the mouel. Although limitations of giauient seaich
techniques applieu to complex nonlineai optimization
pioblems, such as the ANN, aie well known, many
ieseaicheis still piefei to use these methous foi
netwoik optimization |7j. This ANN is tiaineu using
uA by aujusting its weights anu biases in each layei.
The iest of this papei is oiganizeu as follows; Section
2 pioviues biief intiouuction to implementing the
BuPS stiuctuie. In Section S, uA-ANN methous aie
pioposeu. Expeiiments anu simulation iesults aie
iepoiteu in Section 4 anu finally conclusion aie maue
in Section
2. SYSTEM DESCRIPTION
A. Accuracy theory
The oiiginal anu uPS ieceivei uata of the iefeience
station aie known; also, uPS ieceivei uata of the NS
aie known; but, oiiginal uata of the NS aie unknown.
The ieceiveu signal of uPSS_m at NS can be expiesseu
as:
S
m
= (S
m
)
co
+(S
m
)
ognuI
(2)
(S
m
)
ognuI
= S
m
(S
m
)
co
(S)
wheie(S
m
)
ognuI
iepiesents oiiginal position of NS
anu (S
m
)
co
iepiesents eiioi signal occuiiing in uPS
ieauing at NS. The ieceiveu signal of uPS S
r
at RS can
be expiesseu as:
S

= (S

)
co
+(S

)
ognuI
(4)
wheie (S
r
) oiiginal iepiesents RS oiiginal position
anu (S
r
) eiioi iepiesents eiioi signal occuiiing in
uPS ieauing at RS. Since the two ieauings of uPS in
both mobile anu iefeience stations aie achieveu at the
same time; the eiioi signal occuiiing in both uPS
ieauings in mobile anu iefeience stations aie the
same oi: (S
r
) eiioi = (S
m
) eiioi = (S
crror
) |8j.
B. System structure
The BuPS implementeu in this investigation
incluueu thiee paits: Satellite Pait (SP), RS anu NS.
Fig. 1 shows the implementeu pioposeu positioning
system.
(1) SP: All the ieceiveis use some algoiithm baseu
on ueometiic Bilution of Piecision (uB0P) to select
the best set of satellites foi tiacking among the gioup
of satellites in view |9j. If a selecteu subset of
satellites foi NS anu RS is uiffeient, souices of eiioi in
these two stations will be affecteu. So, RS eiioi uoes
not compensate foi NS eiioi. The satellites seen by
the uPS ieceivei aie limiteu to foui satellites in two
stations; it incieases eiioi of uPS position
components up to 2S m but NS eiioi is ieuuceu by
applying RS eiioi.
(2) RS: Stiuctuie of RS is shown in Fig. 2. It
contains a uPS ieceivei (0-blox LEA-6B), computei
system that uses NATLAB softwaie to peifoim the
calculations anu pieuiction anu iauio tiansmittei that
tiansmits the uiffeience uata to the NS via ZigBee
ZS1u mouule. Pieuictive mouel is equippeu with two
inputs; one output anu one taiget. As shown in Fig. 2,
uPS ieceivei is placeu at the known iefeience position
to collect uata. The Biffeiential Bata (BB) can be
founu as the position uiffeience between ieal
cooiuinates of the RS anu the cooiuinates that aie
iecoiueu by uPS ieceivei. This uata coulu be
expiesseu as:
BB = (Bx = x
p
x
r
, By = y
p
y
r
, Bz = z
p
z
r
) (S)
Foi Bx(t), aftei the 1st anu 2nu uelay, Bx(t 1)
anu Bx(t 2) can be obtaineu. Both uelay uata aie
input to the pioposeu uA-ANN, anu Bx(t) is the set as
the taiget; then, the output is pieuicteu Bx(t).The
By(t) anuBz(t) aie also similai. In case of using the
same satellites, by applying these coiiections to othei
ieceivei positions, many of inheient eiiois of the
ieceiveu measuiements iange aie eliminateu |1uj.
(3) MS: In Fig. S, the stiuctuie shows usage of
RPCE pieuicteu by uA-ANN foi aujusting the ieal uata.
The pioposeu methou was at the same time to
compensate foi the output ieal value of the ieceivei.
The NS ieceives two signals: the fiist one is
ieceiveu by uPS ieceivei anu the seconu one is
ieceiveu fiom the iauio tiansmittei which contains
pieuiction BB anu time of uPS ieceivei. The uPS
ieauings at NS in the foim of X
m
, Y
m
anu Z
m
can be
coiiecteu accuiately as follows:
X
mc
= X
m
Bxp (6)
Y
mc
= Y
m
Byp (7)
Z
mc
= Z
m
Bzp (8)

Figuie 1: Positioning system
RTBuPS Implementation by 0nline Pieuiction of uPS Position Components Eiioi 0sing uA-ANN Nouel

45
J. Elec. Comput. Eng. Innov. 2013, Vol. 1, No. 1, pp. 43-50

Figuie 2: Stiuctuie of RS


Figuie S: Stiuctuie of NS foi compensating foi uPS ieceivei
output uata
3. PREDICTION METHOD
ANN anu uA aie two of the most piomising natuial
computation techniques. In iecent yeais, ANN has
become a veiy poweiful anu piactical methou foi
moueling veiy complex non-lineai systems |11, 12j
anu uA can be founu in vaiious ieseaich fielus foi
paiametei optimization |1S, 14j. The uA anu ANN
have been wiuely useu foi pieuiction. Combination of
uA computing anu ANN is calleu uA-ANN. Although
ANNs aie impoitant uata mining techniques, ieseaich
foi the optimal ANN is still a challenging task. In oiuei
to avoiu the local minima encounteieu in most of the
optimization methous, scientists tenu to use ianuom
seaich methous such as uA to finu an optimal
netwoik. The optimum netwoik topology is usually
ueciueu by an expeit oi a tiial anu eiioi appioach.
ueneialization capability in these netwoiks uiiectly
uepenus on tiaining, aichitectuie, numbei of layeis
anu numbei of neuions in each layei. If the numbei of
neuions in the netwoik is incieaseu, the netwoik
attiacts to oveifit the tiaining set; thus, the
inteipolation capability will be uecieaseu. 0n the
othei hanu, if the numbei of neuions is less than the
necessaiy numbei, the netwoik cannot leain all the
uata. Theiefoie, foi eveiy application, theie is a
paiticulai numbei of neuions, which maintains the
best inteipolation geneialization balance. The
uesignei neeus some methous foi finuing an
appiopiiate choice foi keeping this balance. Topology
paiameteis of ANN such as iange of initial weights,
leaining iates, momentum, numbei of hiuuen layeis
anu numbei of neuions in hiuuen layeis can stiongly
affect the solution seaiching ability of a BP algoiithm.
Theii optimization by uA can enhance piobability of
finuing a globally optimum solution |1S, 16j.
Aitificial Neuial Netwoik
ANNs aie wiuely accepteu as a technology offeiing
an alteinative way to simulate complex anu ill-uefineu
pioblems. ANNs has gieat capacity in pieuictive
moueling; i.e. all the chaiacteis uesciibing the
unknown situation can be piesenteu to the tiaineu
ANNs, anu then pieuiction of systems is guaianteeu.
They have been useu in uiveise applications in
contiol, iobotics, pattein iecognition, foiecasting,
powei systems, manufactuiing, optimization, signal
piocessing, etc. anu aie paiticulaily useful in system
moueling. ANN is a computational stiuctuie,
consisting of a numbei of highly inteiconnecteu
piocessing units, calleu neuions. The neuions sum
weighteu inputs anu then apply a lineai oi non-lineai
function to the iesulting sum to ueteimine the output.
The neuions aie aiiangeu in layeis anu aie combineu
thiough excessive connectivity.
BPN |11, 18j is a typical ANN that has been wiuely
useu in many ieseaich fielus. BPNs have hieiaichical
feeu foiwaiu netwoik aichitectuie anu the outputs of
each layei aie sent uiiectly to each neuion in the
above layei. While BPNs can have many layeis, all
iegiession anu classification tasks can be
accomplisheu by a thiee-layei BPN |18j. BPNs aie
tiaineu by iepeateuly piesenting a seiies of
inputoutput pattein sets to the netwoik. The NN
giauually leains the goveining ielationship in the
uata set by aujusting the weights between its neuions
to minimize the eiioi between actual anu pieuicteu
output patteins of the tiaining set. A sepaiate set of
uata calleu the testing set is usually useu to monitoi
netwoiks peifoimance. When the mean squaieu
eiioi (NSE) of the testing set ieaches a minimum,
netwoik tiaining is consiueieu complete anu the
weights aie fixeu. In essence, an NN is a function that
maps input vectois to output ones. NNs aie aujusteu,
oi tiaineu, so that a paiticulai input leaus to a specific
taiget output. The ANN weights aie aujusteu baseu on
the compaiison of the output anu taiget until the
netwoik output matches the taiget. Typically, many
such inputtaiget paiis aie neeueu to tiain a netwoik.
The giaphic iepiesentation of this leaining is given in
Fig. 4.

M. H. Refan et al.

46

Figuie S: A leaining Cycle in the ANN mouel

A. Genetic algorithm
uAs aie the seaich algoiithms uesigneu to mimic
piinciples of biological evolution in natuial genetic
system. uAs aie also known as stochastic sampling
methous anu can be useu to solve uifficult pioblems in
teims of objective functions that possess bau
piopeities such as multi-moual, uiscontinuity, non-
uiffeientiable, etc. These algoiithms maintain anu
manipulate a population of solutions anu implement
theii seaich foi bettei solutions baseu on suivival of
the fittest stiategy. uAs solve lineai anu non-lineai
pioblems by exploiing all iegions of the state space
anu exploiting piomising aieas thiough mutation,
ciossovei anu selection opeiations applieu to
inuiviuuals in the population. 0se of a uA iequiies
ueteimining six funuamental issues |19j, i.e.
chiomosome iepiesentation, selection function,
genetic opeiatois making up the iepiouuction
function, cieation of the initial population,
teimination ciiteiia anu evaluation function.
uAs aie piesenteu as follows:
1. (Initialization): Ranuomly establish an initial
population of chiomosomes.
2. (Evaluating fitness): Evaluate fitness of each
chiomosome. In this woik, a negative NNSE
was useu as the fitness function as follows
Fitness function =
1

2
N
(u
I
y
I
)
2
N
I=1

(9)
wheie o
2
=
1
N
(J

J
i

)
2 N
=1
, N is total numbei of
uata in the testing set, J

is actual value anu y

is
pieuicteu value.
3. (Selection): Select a mating paii, #1 paient anu
#2 paients, foi iepiouuction.
4. (Crossover and mutation): Cieate new offspiing
by peifoiming ciossovei anu mutation opeiations.
5. (Next generation): ueneiate a population foi the
next geneiation.
6. (Stop conditions): If the numbei of geneiations
equals a thiesholu, then the best chiomosomes aie
piesenteu as a solution; otheiwise, go back to Step 2.
Fig. S shows basic steps of uA |21j.


Figuie 4: Basic steps of uA

B. Topology for optimization
NNs use inuuctive leaining anu in geneial iequiie
examples while uAs use ueuuctive leaining anu
iequiie objective evaluation function. A syneigism
between the two techniques has been iecognizeu
which can be applieu to enhance each technique
peifoimance in what may be iefeiieu to as
evolutionaiy NNs. An aiea that has attiacteu the
highest inteiest is use of uAs as an alteinative
leaining technique insteau of giauient uescent
methous, such as eiioi back piopagation. Supeiviseu
leaining algoiithms suffei fiom the possibility of
getting tiappeu on suboptimal solutions |2u-22j. uAs
enable the leaining piocess to escape fiom
entiapment in local minima in instances wheie back
piopagation algoiithm conveiges piematuiely.
Fuitheimoie, because uA uoes not function in the task
uomain, they may be useu foi weight leaining in
iecuiient netwoiks wheie suitable tiaining
algoiithms aie still a pioblem. Stuuies have attempteu
to take auvantage of both techniques. Algoiithms
which combine uAs anu eiioi back piopagation have
been shown to exhibit bettei conveigence piopeities
than the puie back piopagation. The uA is useu to
iapiuly locate iegion of optimal peifoimance anu then
giauient uescent back piopagation can be applieu in
RTBuPS Implementation by 0nline Pieuiction of uPS Position Components Eiioi 0sing uA-ANN Nouel

47
J. Elec. Comput. Eng. Innov. 2013, Vol. 1, No. 1, pp. 43-50
this iegion. uAs have been also stuuieu as geneializeu
stiuctuiepaiametei leaining in neuial systems. This
type of leaining combines as complimentaiy tools
both inuuctive leaining thiough synaptic weight
aujustment anu ueuuctive leaining thiough
mouification of netwoik topology to obtain automatic
auaptation of system knowleuge of the uomain
enviionment. Such hybiiu systems aie capable of
finuing both weights anu aichitectuie of an NN,
incluuing numbei of layeis, piocessing elements pei
layei anu connectivity between piocessing elements.
In summaiy, uAs have been useu in the aiea of NNs
foi thiee main tasks: -Tiaining weights of the
connections, uesigning stiuctuie of the netwoik anu
finuing an optimal leaining iule. A sequence of input
signals is feu to both plant anu NN anu theii output
signals aie compaieu. The absolute uiffeience is
computeu anu sum of all eiiois foi the whole
sequence is useu as a measuie of fitness foi the
consiueieu paiticulai netwoik, as shown in Fig. 6.
uenetic opeiatois can be applieu to cieate a new
population.


Figuie S: Schemes foi uA-AAN

In this woik, initial population with Su
chiomosomes was ianuomly cieateu. 0sing the
algoiithm of BP anu 1uuu iteiations, NN was tiaineu.
Aftei tiaining the population chiomosomes by the
coiiesponuing NN, the eiioi iate was calculateu.
Nating was uone using the ioulette methou. Nating
iate hau piobability of u.7, mutation iate of u.u1 anu
numbei of geneiations of Su.
4. EXPERIMENTAL AND SIMULATION RESULTS
A. Data collection
In oiuei to uemonstiate effectiveness of the uA-
ANN methou, ieal uPS signals weie collecteu. A uPS
ieceivei, 0-bloxLEA-6B, was useu foi uata collection.
Significant featuies of the uPS ieceivei useu in uata
collection piocess incluueu Su-channels, capable of
keeping tiack of up to 16 satellites anu measuiing
with maximum accuiacy in SPS moue (6m). Fig. 7
shows inteiface boaiu foi uPS ieceivei; it hau RS2S2
anu 0SB connection. It was connecteu to a notebook
computei via 0SB connection. The uata sets weie
collecteu at the uPS Reseaich Lab, Shahiu Rajaee
Teachei Tiaining 0niveisity (SRTT0).
Cooiuinate of the position was (x
P
=
S2262u6 y
P
= 4uS4S7uz
P
= S7u9Su8). The uata
weie accesseu pei seconu. Simulation was conuucteu
using an 2.S uBz C0RE
TM
iS CP0. The computei coue
was constiucteu using Natlab 2u1u softwaie. The
uata weie collecteu in two uata files; one file foi
tiaining anu anothei foi testing puiposes.

B. Accuracy of prediction models
In oiuei to evaluate accuiacy of the pieuiction,
RNS anu NRNSE weie useu as below:
RNS = _
1
N
(u
I
y
I
)
2
M
I=1

(1u)
RNSE=_ (T
I
P
I
)
2
N
M
I=1
(11)
NRNSE=
RMSE

M
,
M
=1
1uu
(12)

wheie N is test numbeis, u
I
uenotes the uesiieu
iesponse of output, y
I
piesents the output at test i, T
I

uenotes ieal values anu P
I
is pieuicteu. Figs. 8 (a), 8
(b) anu 8 (c) show Bx(t), By(t)anu Bz(t) pieuictions,
iespectively, foi 1uuu test uata using uA-ANN in RS. In
this figuie, the ieu point is veiy close to the gieen
point which means excellent pieuiction peifoimance
foi uA-ANN. In this figuie, pink line shows pieuiction
eiiois (uiffeience between the pieuicteu anu ieal
values). The uA-ANNs have gieat appioximation
ability anu suitability in RPCE pieuiction. Table 1
shows pieuiction eiiois' statistically significant
chaiacteiistics foi 1uuu test uata using uA-ANN. It is
founu total RNS eiioi is less than u.12 m.


Figuie 6: 0-blox LEA-6B ieceivei


M. H. Refan et al.

48

(a)

(b)

(c)
Figuie 8: 2s aheau RPCE pieuiction anu pieuiction eiioi
using uA-ANN at RS
TABLE1
COMPARING PREDICTION ERRORS' STATISTICALLY SIGNIFICANT
CHARACTERISTICS
Parameters MAX MIN VAR AVE RMS
Dx u.6946 u u.u28u u.u17S u.u112
Dy u.6u79 u u.uu1S u.u1uS u.1u18
Dz u.7S14 u u.u1S9 u.u1S1 u.11SS

Table 2 shows accuiacy anu CP0 time of eiioi
pieuiction using uA-ANN on an 2.S uBz C0RE
TM
iS
CP0, as shown in Table 2. NRNSE foi uA-ANN is 8.98.
TABLE 2
ACCURACY AND CPU TIME OF ERROR PREDICTION USING GA-
ANN
Method Accuracy (m) NRMSE CPU time (ms)
value u.12 8.98 2.7S

C. Structure for RTDGPS experiments
Fiist of all, the satellites' uata weie simultaneously
collecteu by passing thiough the antenna in RS anu NS
in about 17 min (1uuu Bata). Foi RS anu NS, the
softwaie was uesigneu by NATLAB u0I. Softwaie
images of RS anu NS aie shown in Figs. 9 (a) anu (b),
iespectively.

(a)

(b)
Figuie 9: Softwaie image of RS anu NS
This softwaie was connecteu to uPS ieceivei by
RS2S2 to 0SB poit. It hau two com poits as input anu
output. RS softwaie opeiating these steps uiu the
following items:
Receiving P0SECEF message fiom input com,
incluuing time anu X, Y anu Z cooiuinatois.
Paising the message.
Calculating RPCE (Bx, By, Bz).
Pieuicting RPCE.
Naking the message: RPCE Time, Bx, By, BZ
&&.
Senuing the message to output com.
0utput com was connecteu to a iauio tiansceivei
(tiansmitteiieceivei) that was useu RS2S2
connection. This iauio was able to ieceive oi tiansfei
BuPS coiiections. It was a ZigBee iauio tiansceivei
(Type ZS1u). ZS1u mouule ieceiveu the uata fiom
softwaie anu sent them to othei ZS1u mouule, which
was connecteu to NS softwaie.
In NS, softwaie ieceiveu the uata fiom two poits of
uPS 0SB anu ZS1u mouule RS2S2 to 0SB poit. NS
softwaie has two input com. NS softwaie opeiating
these steps uiu the followings:
Receiving P0SECEF message fiom input com,
incluuing time anu X, Y anu Z cooiuinatois.
Paising the P0SECEF message.
Paising the ieceiveu message fiom RS (inputcom
2).
Calculating the aujusteu position.
Accuiacy of RTBuPS
Fig. 1u shows 1uuu ieal uata of befoie tiaining in
0 100 200 300 400 500 600 700 800 900 1000
-15
-10
-5
0
5
10
15
20
Time (s)
D
x

(
m
)


Real Dx
Difference
Predicted Dx
0 100 200 300 400 500 600 700 800 900 1000
-20
-15
-10
-5
0
5
10
15
20
25
Time (s)
D
y

(
m
)


Real Dy
Difference
Predicted Dy
0 100 200 300 400 500 600 700 800 900 1000
-15
-10
-5
0
5
10
15
20
25
Time (s)
D
z
(
m
)


Real Dz
Difference
Predicted Dz
RTBuPS Implementation by 0nline Pieuiction of uPS Position Components Eiioi 0sing uA-ANN Nouel

49
J. Elec. Comput. Eng. Innov. 2013, Vol. 1, No. 1, pp. 43-50
RS anu 1uuu ieal uata in NS fiom ieceivei 0-blox LEA
6B while satellites in two stations weie iuentical anu
numbei of satellites weie 4. The uistance between
two stations was 84 m. RS was at the builuing of uPS
Reseaich Lab in SRTT0 anu NS at SRTT0, Faculty of
Sciences. As can be seen in Figuie 1u, the obseiveu
changes in X, Y anu Z in two stations weie similai; as a
iesult, eiiois ielative to the iefeience location (Bx,
By, Bz) in two stations weie veiy close to each othei.
So, the iefeience station eiioi factois (Bx, By, Bz) can
coiiect location of NS. Aftei initial calculation of the
RS, RPCE factois weie online pieuicteu anu sent in
ieal time via ZS1u to NS. Note that, the RS uata weie
being collecteu anu sufficient tiaining uata weie
available foi the fiist pieuiction. Coiiesponuing to the
stiuctuie in Fig. S, RPCE pieuicteu by uA-ANN was
useu to aujust the ieal uata of NS.


(a)

(b)

(c)
Figuie 1u: Real uata of RS, ieal anu aujusteu uata by uA-
ANN of NS
The eiiois ielative to the iefeience position of NS
aftei impiovement aie shown in Fig. 11. The
expeiiment pioveu that uA-ANN can gieatly inciease
accuiacy of the uPS ieceivei. The maximum eiioi foi
ieal uata was 2um while this paiametei was 2m foi
the aujusteu uata by accuiate pieuiction. Table S
shows the impioveu eiiois statistically significant
chaiacteiistics foi 1uuu ieal values. As shown in Table
S, total RNS eiioi of the LEA 6B ieal uata weie
ieuuceu to less than u.Sm using uA-ANN methou.

(a)

(b)

(c)
Figuie 11: The eiioi to the iefeience position aftei
impiovement in NS

TABLE 3
IMPROVEMENT ERRORS STATISTICALLY SIGNIFICANT
CHARACTERISTICS OF MS

X Component Y Component Z Component
Real Aujusteu Real Aujusteu Real Aujusteu
NAX 18.S 1.82 21.S6 1.1S 22.4 1.6S
NIN u.uu u.uu u.uu u.uu u.uu u.uu
RNS 4.98 u.49 9.S9 u.S1 8.96 u.49
AvE S.2S u.u9 2.4S u.uS 1.66 u.u8
vAR 48.8 u.1S 86.u u.S4 77.7 u.17

5. CONCLUSION
This ieseaich pioposeu a methou to impiove BuPS
accuiacy using RPCE pieuiction. In the pioceuuie, uA-
ANN utilizeu two time step eiioi uata to pieuict the
following time step eiioi anu the pieuicteu eiioi was
calculateu anu aujusteu the ieal uata of the uPS
ieceivei. It was founu that the compensateu uata
peifoimeu with moie excellent accuiacy than the ieal
uata to the iecognizeu iefeience position. The
pioposeu uA-ANNs weie implementeu on low cost
uPS ieceivei uata. The iesults weie highly effective
pieuictions foi accuiate positioning. So, RPCE RNS
eiiois of NS weie less than u.S1 m aftei uA-ANNs
pieuiction.
0 100 200 300 400 500 600 700 800 900 1000
3,226,100
3,226,120
3,226,140
3,226,160
3,226,180
3,226,200
3,226,220
3,226,240
Time (s)
X

(
m
)


X Az GPS
X Faculty of Science
Adjusted X by ENN
0 100 200 300 400 500 600 700 800 900 1000
4,054,530
4,054,540
4,054,550
4,054,560
4,054,570
4,054,580
4,054,590
4,054,600
Time (s)
Y
(
m
)


Y AZ GPS
Faculty of Science
Adjusted Y GANN
0 100 200 300 400 500 600 700 800 900 1000
3,709,285
3,709,290
3,709,295
3,709,300
3,709,305
3,709,310
3,709,315
3,709,320
3,709,325
Time (s)
Z
(
m
)


Z AZ GPS
Z Faculty of Science
Adjusted Z by GANN
0 100 200 300 400 500 600 700 800 900 1000
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time (s)
D
x

(
m
)


Adjusted Error in MS
0 100 200 300 400 500 600 700 800 900 1000
-1.5
-1
-0.5
0
0.5
1
1.5
Time (s)
D
y

(
m
)


Adjusted Dy in MS
0 100 200 300 400 500 600 700 800 900 1000
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time (s)
D
z
(
m
)


Adjusted Dz in MS
M. H. Refan et al.

50
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BIOGRAPHIES
Mohammad HosseinRefan
ieceiveu his B.Sc. in Electionics
Engineeiing fiom Iian 0niveisity
of Science anu Technology,
Tehian, Iian in 1972. Aftei 12
yeais woiking anu expeiience in
inuustiy, he staiteu stuuying again
in 1989 anu ieceiveu his NSc anu
Phu in same fielu anu the same
0niveisity in 1992 anu 1999
iespectively. Be is cuiiently
Piofessoi Assistance of Electiical anu Computei Engineeiing
Faculty, Shahiu Rajaee Teachei Tiaining 0niveisity, Tehian,
Iian. Be is the authoi of about Su scientific publications on
jouinals anu inteinational confeiences. Bis ieseaich
inteiests incluue uPS, BCS, anu Automation System.
Email:iefansittu.euu
Adel Dameshghi was boin in1986
anu Receiveu his B.S., anu N.S.
uegiees in Electionic Engineeiing
fiom Bepaitment of Electiical
Engineeiing, of Electiical anu
Computei Engineeiing, Shahiu
Rajaee Teachei Tiaining
0niveisity (SRTT0), Tehian, Iian,
in 2u11anu 2u1S iespectively. Bis
ieseaich inteiests incluue Boolean
Function, ulobal Positioning
Systems, Electiic anu Bybiiu vehicle.