• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.34 no.2
• /
• pp.48-55
• /
• 2006

Performance characteristics of the position-domain Hatch filter is analyzed for differential global navigation satellite systems. It is shown that the position-domain Hatch filter generates white measurement residual sequences, which is beneficial property for fault detection. It is also shown that the position-domain Hatch filter yields more accurate a priori state estimate than the position-domain Kalman-type filter. Thus, it can be concluded that the position-domain Hatch filter is beneficial in wide application areas where fault-tolerance and accuracy are required at the same time.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.5
• /
• pp.1-7
• /
• 2011

EOTS(Electro-Optical Tracking System) provides stabilized images while tracking a moving target. The key of geo-pointing is the function that fixes EOTS's sight to a specific position(geo-point) throughout aircraft maneuvers. In this paper, a major error source for the geo-pointing is identified as the transport delay of navigation information, and an augmented Kalman filter is designed to estimate the present attitude of aircraft using delayed navigation information. Simulation results including the presented scheme shows that the error due to the information transport delay reduces under half.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.48 no.6
• /
• pp.51-60
• /
• 2011

Researches on indoor localization using the wireless sensor network have been actively carried out to be used for indoor area where GPS signal is not received. Computationally efficient WCL(Weighted Centroid Localization) algorithm is shown to perform relatively well. However, to get the best performance for WCL all the anchor nodes must send signal with power to cover 96% of the network. The fact that outside the transmission range of the fixed nodes drastic localization error occurs results in large mean error and deviation. Due to these problems the WCL algorithm is not easily applied for use in the real indoor environment. In this paper we propose SRS(Succesive Region Setting) algorithm which sequentially reduces the estimated location area using the signal strength from the anchor nodes. The proposed algorithm does not show significant performance degradation corresponding to transmission range of the anchor nodes. Simulation results show that the proposed SRS algorithm has mean localization error 5 times lower than that of the WCL under free space propagation environment.

• Journal of Navigation and Port Research
• /
• v.37 no.4
• /
• pp.367-373
• /
• 2013

Wide area differential GNSS(WA-DGNSS) collects GPS measurements from the several reference stations and estimates 3-D satellite orbit error, satellite clock error, ionospheric delay. These correction messages are broadcasted to user, then user can have more accurate and reliable position estimates. The performance of WA-DGPS can be changed depending on the position of reference stations. To select proper reference stations, performance analysis with the change of reference stations is necessary. In this paper, changing the geographical location of reference stations, we carried out simulation based test and show the performance of WA-DGNSS in Korea.

• Journal of Broadcast Engineering
• /
• v.1 no.2
• /
• pp.176-187
• /
• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• KIPS Transactions on Software and Data Engineering
• /
• v.1 no.1
• /
• pp.43-54
• /
• 2012

This paper presents a new localization technique of an UGV(Unmanned Ground Vehicle) by matching ortho-edge images generated from a DSM (Digital Surface Map) which represents the 3D geometric information of an outdoor navigation environment and 3D range data which is obtained from a LIDAR (Light Detection and Ranging) sensor mounted at the UGV. Recent UGV localization techniques mostly try to combine positioning sensors such as GPS (Global Positioning System), IMU (Inertial Measurement Unit), and LIDAR. Especially, ICP (Iterative Closest Point)-based geometric registration techniques have been developed for UGV localization. However, the ICP-based geometric registration techniques are subject to fail to register 3D range data between LIDAR and DSM because the sensing directions of the two data are too different. In this paper, we introduce and match ortho-edge images between two different sensor data, 3D LIDAR and DSM, for the localization of the UGV. Details of new techniques to generating and matching ortho-edge images between LIDAR and DSM are presented which are followed by experimental results from four different navigation paths. The performance of the proposed technique is compared to a conventional ICP-based technique.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.11
• /
• pp.2261-2270
• /
• 2015

GIS(Geographic Information System) based Positioning technique uses geographic information to predict which satellites are visible or invisible. GPS positioning has poor positioning accuracy in dense urban area where tall buildings block the satellite signals. In this paper, we proposed GIS based Advanced Positioning technique of Mobile GPS to resolve this problem. Particularly, this technique improves positioning accuracy in dense urban area. It is consist of ephemeris and GIS server. We will inversely estimate pseudorange by using NMEA-0183 output data of mobile GPS. After that, we can find more accurate position by using ephemeris and GIS information.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2009.05a
• /
• pp.1321-1326
• /
• 2009

강우는 수자원 확보 측면에서 근원이 되는 요소이다. 그러므로 정확한 확률강우량 산정은 미래의 가용 수자원량을 예측하는데 있어 중요한 사항중 하나이며 무엇보다 신중한 결정이 요구된다. 또한 하천의 범람에 의한 침수를 예방하는 수공구조물 등의 설계에 있어서는 신뢰할 수 있는 확률강우량 산정이 선행되어야 한다. 본 연구에서는 최근 우리나라 극치강우확률분포로서 많은 연구가 이루어지고 있는 GEV 분포(GEV-O)를 기반으로 위치 매개변수에 시간의 함수를 고려한 개선된 GEV 분포(GEV-A)를 이용하여 서울지점에 적용함으로서 GEV-O 분포에 의한 확률강우량과 GEV-A 분포로 산정된 확률강우량을 비교 검토하였다. 먼저 임의의 난수 발생을 통해 최우도추정법과 확률가중모멘트법으로 매개변수를 추정한 GEV-O 분포와 최우도추정법으로 매개변수를 추정한 GEV-A 분포의 상대평균제곱근오차 (R-RMSE)를 계산하여 비교함으로서 GEV-A 분포의 효율성을 판단하였다. 사례연구는 1961년부터 2008년까지 서울강우관측소에서 측정된 연최대 1일 강우량으로 하였으며 $X^2$-검정, PPCC-검정으로 적합도 검정을 실시하였다. 강우빈도분석 결과 GEV-A 분포가 GEV-O 분포로 산정된 결과 보다 대체로 재현기간 200년 이상일 경우, 과다 산정되는 경향을 보였다. 추후 개선된 GEV 분포를 서울 인근 지점에 적용함으로서 지역빈도해석(Regional Frequency Analysis)을 실행하기 위한 연구가 진행되어야 할 것이다. 또한 확률홍수량 산정 등에도 개선된 GEV 분포를 이용함으로서 보다 정확하고 신뢰성 있는 확률수문량을 예측하여야 할 것이다.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.35S no.12
• /
• pp.69-76
• /
• 1998

This paper proposes a matrix which represents the confidence in the rotation components of the Iterative Closest Point (ICP) algorithm is image registratiion, The reliability of the ICP algorithm depends on the shape of the object. For example, an object with more complex features shows higher reliablility than the one with rotation symmetry such as a cylinder. We show that the reliablity of the ICP algorithm can be estimated when the input range data has additive noise. Finally, we demonstrate that the proposed reliability formula is in good agreement with the computer simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.4
• /
• pp.285-293
• /
• 2020

In this paper, to improve Synthetic Aperture Radar (SAR) image quality, the effect of time synchronization error in the EGI/IMU (Embedded GPS/INS, Inertial Measurement Unit) integrated system is analyzed and state augmentation is applied to compensate it. EGI/IMU integrated system is widely used as a SAR motion measurement algorithm, which consists of EGI mounted to obtain the trajectory and IMU mounted on the SAR antenna. In an EGI/IMU integrated system, a time synchronization error occurs when the clocks of the sensors are not synchronized. Analysis of the effect of time synchronization error on navigation solutions and SAR images confirmed that the time synchronization error deteriorates SAR image quality. The state augmentation is applied to compensate for this and as a result, the SAR image quality does not decrease. In addition, by analyzing the performance and the observability of the time synchronization error according to the maneuver, it was confirmed that the time-variant maneuver such as rotational motion is necessary to estimate the time synchronization error adequately. In order to reduce the influence of the time synchronization error on the SAR image, the time synchronization error must be compensated by performing maneuver changing over time such as a rotation before SAR operation.