• Journal of the Korea Society for Simulation
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• v.27 no.4
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• pp.47-60
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• 2018

Today's unmanned technology, which is being used in various industries, is expected to be able to make autonomous judgements as autonomous technology matures, in the long run aspects. In order to improve the usability of unmanned system in the military field, it is necessary to develop a technique for systematically and quantitatively analyzing the efficiency and effectiveness of the unmanned system by means of a substitute for the tasks performed by humans. In this paper, we propose the method of representing rule-based tactical behavior and modeling manned and unmanned reconnaissance agents that can effectively analyze the path alternatives which is required for the future armored cavalry to establish a reconnaissance mission plan. First, we model the unmanned ground vehicle, small tactical vehicle, and combatant as an agent concept. Next, we implement the proposed agent behavior rules, e.g., maneuver, detection, route determination, and combatant's dismount point selection, by NetLogo. Considering the conditions of maneuver, enemy threat elements, reconnaissance assets, appropriate routes are automatically selected on the operation area. It is expected that it will be useful in analyzing unmanned ground system effects by calculating reconnaissance conducted area, time, and combat contribution ratio on the route.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.59-67
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• 2008

In the next near future, the human would like to use the small unmanned ground vehicle(SUGV) on the diverse fields. Specially the world of today is tried to apply with operating the task on very difficult working environments such as some dangerous or unreachable area. To work this task, this vehicle should be guaranteed with the high level of reliability, safety, and performance. In this paper, we propose to focus on not only the functional requirements, but also the non-functional requirements based on software architecture at the design stage for developing the embedded system. Through focusing on the non-functional requirements on this software architecture, we can obtain the design goal of the target system and also show the enhancement of reliability, safety and performance with 'Vtune' performance analysis tool.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.7
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• pp.582-589
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• 2012

This paper describes the algorithm recognizing car type from the image received from UAV and the recognition results between three types of car images. Using the NCC(Normalized Cross-Correlation) algorithm, geometric information is matched from template images. Template images are obtained from UAV and satellite map and indoor experiment is performed using satellite map. After verification of the possibility, experiment for verification of same car type recognition is performed using small UAV. In the experiment, same type cars are matched with 0.6 point similarity and truck with similar color distribution is not matched with template image of a sedan.

• Journal of the Institute of Convergence Signal Processing
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• v.22 no.2
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• pp.64-70
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• 2021

Nowadays, there are significant interests in real-time remote control using wireless networks. In implementing real-time remote control, one important factor is delay performance of real-time control message. Especially, the technique to reduce jitter of delay is necessary in transmitting periodically real-time control message. In this paper, we proposed synchronized transmission to reduce jitter of delay, when real-time control message was transmitted through wireless networks. The proposed transmission kept synchronization between source node and wireless transmitter and controlled transmission instance to transmit real-tie control message with fixed delay in wireless networks. According to results of experiment in military unmanned vehicle system, the proposed transmission reduced jitter of delay as 32% as that of a non-employing case.

• 한국항공운항학회:학술대회논문집
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• 2004.11a
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• pp.302-307
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• 2004

무인 항공기는 지상 조종 또는 자동 비행으로 원격제어, 각종 정찰, 수송, 및 공격 등의 다양한 임무를 수행할 수 있는 비행체 및 이를 포함한 시스템을 의미한다. 무인기의 자율 운항을 위해서는 위치, 속도 및 자세 등의 항법 정보를 제공하는 항법 시스템이 반드시 필요하며 크기가 작은 무인기를 위해서는 탑재체의 중량이 적은 항법 시스템이 반드시 필요하다. 최근에는 반도체 MEMS 기술을 이용한 저가형 관성 센서들이 많이 개발 되고 있으며 이를 이용한 소형, 저전력, 고정밀 항법 시스템들이 많이 연구 개발되고 있다. GPS/AHRS 결합 시스템은 자세각, 각속도, 가속도 정보 및 GPS를 이용한 위치, 슥도 정보 제공이 가능한 시스템으로 비행체의 자율비행을 위한 정보 제공이 가능한 시스템이다. 본 논문에서는 MEMS 센서를 기반으로한 GPS/AHRS 결합 항법 시스템 설계하고 차량을 이용하여 성능을 평가한 결과를 보여준다.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.2
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• pp.95-100
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• 2013

Localization is very important for the autonomous navigation of Unmanned Ground Vehicles; however, it is difficult that they have a precise Inertial Navigation System(INS) sensor, especially Small Unmanned Ground Vehicle(SUGV). Moreover, there are some condition such as denial of global position system(GPS), GPS/INS integrated system is not robust. This paper proposes the estimation algorithm with optical flow sensor and INS. Being compared with previous researches, the proposed algorithm is suitable for skid steering vehicles. We revised the measurement model of previous research for the accuracy of side direction position. Experimental results were performed to verify the algorithm, and the result showed an excellent performance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.7
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• pp.1735-1739
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• 2009

The keen global competition is expected among foreign advanced nations for source, key technologies required by unmanned combat ground vehicle. Therefore, the trend of technologies for unmanned ground combat vehicle was analyzed in this research. It was based on the submitted patents from 1988 to 2008 in Korea, U.S.A, Japan, Europe, Canada and Israel. This analysis was focused on finding the technical level, the challenge area and breakthrough technologies and the growth of technologies of each nations considering opinions of experts. This report suggested the field of key technology development

• Defense and Technology
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• no.3 s.229
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• pp.80-91
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• 1998

오늘날 기동하는 장갑부대 및 기계화부대등 고가의 군사자산 보호는 제5의 위협으로 상정한바 있는 지상공격기(항공기, 유도미사일, 무인항공기 등)의 다양한 공격위협과 교전할 수 있는 전천후 방공능력이 절실히 요구되고 있기 때문에 서방 선진국은 저고도용 지대공 미사일(스팅어, 스타버스트, 미스트랄, RBS-70, 이글라 등)개발과 단일 장갑 차량에 "복합 방공무기체계"를 경쟁적으로 개발 및 운용하고, 중단거리 기동 방공체계를 연구 개발중이다. 특히 고도로 유동적인 장차전의 전장환경에서 적은 최신 무기로 공중침투 공격을 감행할 것으로 예상된다. 따라서 이 글에서는 선진국의 "저고도 대공방어 무기체계"를 고찰하고자 한다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.5
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• pp.45-55
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• 2002

In this paper, we describe an outdoor augmented reality system using GPS tracking for position and attitude information. The system consist of a remote mobile operation unit and a ground operation unit. The remote mobile operation unit includes a real-time image acquiring device, a GPS tracking device, and a wireless data transceiver; the ground operation unit includes a wireless transceiver, a virtual image generating device, and an image superimposing device. The GPS tracking device for measurement of position and attitude of the remote mobile operation unit was designed by TANS Vector and RT-20 for DGPS. The wireless data transceiver was for data transmission between the remote mobile operation unit and the ground operation unit. After the remote mobile operation unit was installed on a vehicle and a helicopter, the system was evaluated to verify its validity in actual applications. It was found that the implemented system could be used for obtaining real-time remote information such as construction simulation, tour guide, broadcasting, disaster observation, or military purpose.