• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.1
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• pp.54-60
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• 2013

This paper presents a ground altitude determination algorithm using a laser altimeter and GPS for automatic take-off and landing of UAV. The characteristics of the laser altimeter was analyzed in ground tests and a low-pass filter was designed to reduce the effect of signal interruption due to reflectivity problem. The paper shows that a single sensor cannot measure ground altitude appropriately in terms of reliability and accuracy. To complement shortcomings of the laser altimeter, the linear Kalman filter was designed using DGPS vertical speed. Designed filter was validated and tuned through the steps of simulation, ground test and flight test. It was confirmed that the accuracy for automatic landing is achievable.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• fall
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• pp.180-182
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• 2021

본 논문에서는 드론의 비행 장소와 온도 및 습도에 영향을 받지 않는 적외선 기반 깊이 카메라로부터 얻어진 깊이영상을 분석하여 지면 영역을 찾고 AGL(Above Ground Level) 단위의 고도를 측정하는 방법을 제안한다. Decimation filter 와 Median filter 를 적용하여 잡음 및 빈 데이터들을 제거한 깊이영상으로부터 RANSAC (RANdom Sample Consensus) 기반 평면 모델 추정 방법을 이용하여 지면 영역과 이에 대한 평면의 방정식을 유추하고 현재 위치와의 거리를 계산한다. 성능 평가를 위해 Lidar 센서와 비교한 결과, 제안 방법이 지면에 위치한 장애물에 영향을 더 적게 받으며, 자세 정보와 독립적으로 고도를 측정할 수 있었다.

• 한국공간정보시스템학회:학술대회논문집
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• 2005.05a
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• pp.287-291
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• 2005

LiDAR 자료로부터 3차원 공간 정보체계를 구축하기 위하여 LiDAR 포인트를 지면과 비지면 포인트로 분리하고 비지면 포인트를 각각의 개체(건물, 수목, 기타 인공 구조물 등)별로 분리하는 과정이 필수적이다. 그러나 LiDAR 자료는 불규칙한 분포의, 방대한 양의 포인트로 구성되어 있어 이를 처리하기 위한 특별한 형태의 자료 구조 체계의 구축이 필요하다. 본 연구에서는 유사한 고도를 갖는 인접한 포인트들로 클래스를 형성하여, 새로운 포인트에 대하여 기존 클래스 포인트들과의 인접성 및 고도 유사성을 검토함으로써 분류를 수행하였다. 이를 위하여 원 LiDAR 자료 구조를 이용하였으며 결과적으로 지면과 비지면의 분리 및 각 비지면 개체간의 분리를 동시에 수행할 수 있었다.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2001.11a
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• pp.393-393
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• 2001

대기확산모델의 운용을 위한 기상자료는 지면기상과 상층기상으로 구분된다. 지면기상 중 풍향, 풍속은 배출된 대기오염물질의 이송을 결정하는 요소이므로 배출원 위치의 연기상승고도에서 정확한 측정값이 입력되어야 한다. 그런데 풍향, 풍속은 일반적으로 지상풍 측정고도인 10m 높이에서 측정되므로 배출시설의 연기상승고도가 이보다 높은 경우에는 풍속지수식을 이용하여 풍속을 산출하게 된다. (중략)

• Aerospace Engineering and Technology
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• v.6 no.1
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• pp.14-18
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• 2007

The ground effect on tilt-rotor UAV is analyzed by simulating the hovering UAV for various altitudes. Ground effect increases pressure beneath the UAV body and generates additional lifting force. The ground effect diminishes at altitude 3m and hovering UAV generates constant lifting force above 3m.

• Proceedings of the Korea Society for Simulation Conference
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• 2004.05a
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• pp.131-135
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• 2004

Landing gear force reaction module is important for aircraft take off and landing simulation. But usually this modulo is not accounted for control law design simulation. because it does not affect the flying quality of aircraft. Now a days, this module is getting more important according to the increase of needs for training purpose simulation and specific control law design such as unmaned aircraft landing on the moving platform. In this paper 1DOF mass spring simple force system per gear was accepted.

• Korean Journal of Remote Sensing
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• v.22 no.6
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• pp.533-542
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• 2006

Lidar point clouds provide three dimensional information of terrain surface and have a great advantage to generate precise digital elevation model (DEM), particularly over forested area where some laser signals are transmitted to vegetation canopy and reflected from the bare ground. This study initially investigates the characteristics of lidar-derived height information as related to vertical structure of forest stands. Then, we propose a new filtering method to separate ground points from Lidar point clouds, which is a prerequisite process both to generate DEM surface and to extract biophysical information of forest stands. Laser points clouds over the forest stands in central Korea show that the vertical distribution of laser points greatly varies by the stand characteristics. Based on the characteristics, the proposed filtering method processes first and last returns simultaneously without setting any threshold value. The ground points separated by the proposed method are used to generate digital elevation model, furthermore, the result provides the possibilities to extract other biophysical characteristics of forest.

• Proceedings of the Korean Environmental Sciences Society Conference
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• 2004.05a
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• pp.230-231
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• 2004

일출 후 태양복사에 의한 혼합층 발달과 새벽녘의 안정층 형성이 잘 관측되고 있다. 풍향의 경우, 해륙풍에 의한 풍향 일변화를 보이고 있으며, 이는 해안지역의 특징을 잘 반영하는 것이다. 간척지라는 지면특성을 고려하여 지속적인 관측과 분석이 이루어진다면, 지면성질에 따른 대기경계층 특성과 혼합층 고도를 추정할 수 있을 것으로 기대된다.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.749-756
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• 2013

This paper presents an algorithm concerning the ground altitude measurement using a laser altimeter and an ultrasonic rangefinder for UAV(Unmanned Aerial Vehicle). A simple ground test conducted using the laser altimeter and ultrasonic rangefinder that are used for conducting the low altitude measurement of UAV and identify the characteristics of each sensor. Especially, the disadvantages of the laser altimeter were checked through the ground test. After that who those are participated in this paper planned the algorithm which is complemented by the ultrasonic rangefinder and the experiment was conducted. The laser altimeter and the ultrasonic rangefinder were fused by a loosely coupled method by Kalman filter. The paper shows that stable value of altitude complemented by the ultrasonic rangefinder that covers the laser altimeter's drawbacks can be measured through the ground test.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.12
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• pp.1161-1169
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• 2012

A numerical study has been conducted to investigate the aerodynamic characteristics and behavior of a wing-tip vortex around a three-dimensional symmetric wing (NACA0015) in the vicinity of the ground. The aerodynamic characteristics and the wing-tip vortex change as a wing approaches the ground as a result of two different phenomena: the ground effect and the Venturi effect. The ground effect increases lift and decreases drag whereas the Venturi effect generates negative lift and increases drag suddenly. A symmetric airfoil experiences both phenomena with respect to changes in the angle of attack. In the case of a NACA0015 airfoil, the Venturi effect is dominant at small angles of attack but the ground effect is dominant at large angles of attack. Interestingly, both phenomena can be observed at the 4 degree of angle of attack. The vortex core moves inside a wing when the wing experiences the Venturi effect, whereas the vortex core moves outward when the wing experiences the ground effect.