• Journal of Advanced Navigation Technology
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• v.27 no.3
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• pp.274-280
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• 2023

The Fix-to-Fix Navigation is the technique for aircraft pilots to find out estimated Heading when crossing from present fix to other fix to want to go in the air. Because this is based on the Rule of Thumb method from one's experience, it could not find out exact estimated Heading. Furthermore if the pilot nears going fix, Bearing Pointer and Course Indicator of HSI are too close to use this technique, that makes the pilot lost in the air. In this paper, We take Limits of Trigonometric Functions into the Fix-to-Fix Navigation to overcome these disadvantages. This study introduces two solutions using Limits of Trigonometric Functions when doing Fix-to-Fix Navigation and analyzes the error of this solutions.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.10
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• pp.918-926
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• 2007

Military aircrafts usually operate at the area with lots of threats such as radars and surface-to-air missiles. Aircraft also faces with the unexpected or pop-up threats. Under this environment, a safe flight path should be generated to lead a mission successful. In this paper, a new path planning algorithm is proposed to provide less dangerous flight path efficiently. Of many path planning algorithms, a potential method is considered, because it has advantages of computation efficiency and smooth path generation. Trajectory generation under the condition of maximum range is studied so that the aircraft may reach the target area without refueling. The algorithm to cope with an unexpected situation is also proposed by adopting the concept of initial direction vector, additional force, and a new mapping function. The performance of the proposed algorithms is demonstrated for SEAD (Suppression of Enemy Air Defences) mission by numerical simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.4
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• pp.367-371
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• 2009

Analysis on optimality of the proportional navigation guidance(PNG) law is presented in this paper. While most of previous studies on optimality of PNG were relied on the linear formulation, this paper is based on the nonlinear formulation. The analysis shows that PNG is an optimal solution minimizing a range-weighted control energy, where the weighting function is an inverse of $\alpha$ power of the distance-to-target. We show that the navigation constant N is related to $\alpha$ directly. And also the conditions required to ensure the analysis result are investigated.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.489-492
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• 2000

본 논문에서는 영상 항법 변수 추출 알고리듬의 실시간 구현에 관해 연구하였다. 영상 항법 변수 추출 알고리듬은 이전 위치를 기준으로 현재 위치를 추정해내는 상대위치 추정 알고리듬과 상대위치 추정에 의해 누적되는 오차를 보정하기 위한 절대위치 보정 알고리듬으로 구성된다. 절대위치 보정 알고리듬은 고해상도 영상과 IRS (Indian Remote Sensing) 위성영상을 기준영상으로 이용하는 방법 및 DEM (Digital Elevation Model) 을 이용하는 방법으로 구성된다. 하이브리드 영상 항법 변수 추출 알고리듬을 실시간으로 구현하기 위해 MVP (Multimedia Video Processor)로 명명된 TMS320C80 DSP (Digital Signal Processor) 칩을 사용하였다. 구현된 시스템은 MVP의 부동 소수점 프로세서인 MP (Master Processor) 를 고정 소수점 프로세서인 PP (Parallel Processor) 를 제어하거나 삼각함수 계산과 같은 부동 소수점 함수를 계산하는데 사용하였고, 대부분의 연산은 PP를 사용하여 수행하였다. 처리시간이 많이 필요한 모듈에 대해서는 고속 알고리듬을 개발하였고, 4개의 PP를 효율적으로 사용하기 위한 영상분할 방법에 대해 제안하였다. 비행체에서 캡코더를 이용해 촬영한 연속 항공 영상과 비행체의 자세정보를 입력으로 실시간 시뮬레이션 하였다. 실험결과는 하이브리드 항법 변수 추출 알고리듬의 실시간 구현이 효과적으로 구현되었음을 나타내고 있다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.5
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• pp.543-550
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• 2011

The gravity anomaly is a basic geophysical data applied in various fields such as geophysics, geodesy and national defense. In general, the gravity anomaly is used through a interpolation process based on the constructed database. The gravity variation, however, is appeared in various shapes depending on the topography and the density of the underground structures. Therefore, the interpolation could lead to a large differences if the gravity fields do not satisfy the assumptions on the signal behavior like linear or a certain degree polynomials. Furthermore, the interpolation does not reflect the physical characteristics of the gravity such as the harmonic condition. In this study, the gravity modeling using the plane Fourier series and radial basis functions are performed to overcome the problems in the usual interpolation. The results of the modeling is analyzed for the case of the gravity referenced navigation focused on the signal characteristics. Based on the study, it was found that the results from modeling are not much different to that from the interpolation in a smoothly varied area. In case of the highly varied area, however, a large differences are appeared among the three methods. Especially, the Fourier series shows the most smooth variations in the modeled gravity values while the highest variations appeared in the interpolation. Applying to the gravity referenced navigation, it was found that the modeling is more effective in calculation cost. It is considered that the results from this study provides a basis on effective modeling of the gravity fields in terms of the signal characteristics and resolution for various application fields.

• Journal of Advanced Navigation Technology
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• v.11 no.4
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• pp.371-377
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• 2007

Ionospheric time delay is one of the main error source for single-frequency DGPS applications, including time transfer and Wide Area Differential GPS (WADGPS). Grid-based algorithm was already developed for WADGPS but that algorithm is not applicable to geomagnetic storm condition in accuracy and management. In geomagnetic storm condition, the spatial distribution of vertical ionospheric delay is noisy and therefore the accuracy of modeling become low in grid-based algorithm. For better accuracy, function based algorithm can be used but the continuity of correction message is not guranteed. In this paper, we propose the ionospheric model using wavelet based algorithm. This algorithm shows better accuracy with the same number of correction message than the existing spherical harmonics algorithm and guarantees the continuity of correction messages when the number of message is expanded for geomagnetic storm condition.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.286-289
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• 1986

항법(navigation)은 기준좌표계에 대한 항체(vehicle)의 위치나 속도를 알아내기 위한 것으로 이를 위한 시스템이 관성항법장치(inertial navigation system-INS)이며 항법기능을 수행하기 위하여 항체에 놓여진 쎈서의 관성성질을 이용한다. INS는 specific force와 관성 각속도의 측정에서 얻은 데이타를 처리함으로 그 기능을 수행한다. 스트랩다운 INS(SINS)는 관성항법장치의 한 종류로 analytic INS라고도 하는데 기준좌표축을 유지하기 위하여 안정테이블을 사용하지 않고 쎈서들을 항체에 직접 부착시켜 초기상태와 현재상태와의 사이에 상대적인 회전방향을 해석적으로 계산한다. INS의 성능은 수많은 오차원(error source)의 함수로 주어지며 이 오차원 중에는 주위환경에 의한 것도 있고 INS 구성에 사용된 기구(instruments)와 관련된 것도 있다. INS 를 해석하는 목적은 항법의 정확도를 알아보는데 있으며 또한 각각의 오차원의 값을 추정하는 것도 부가적인 목적이 된다. 이러한 오차의 추정치는 사양(specification)을 모르는 부품의 성능을 식별하는데 사용될 수 있다. 따라서 INS를 해석함으로 INS를 구성하는 어떤 부품에 대한 성능이 어느정도 개선을 필요로 하는가 알 수 있다. 본 논문에서는 SINS의 오차원을 크게 고도계의 불확실성, 중력의 편향과 이상, 가속도계의 불확실성, 자이로의 불확실성의 네 그룹으로 나누어 상호분산해석(covariance analysis)방법으로 각 오차원이 시스템에 미치는 영향을 알아보았다.

• Journal of Ocean Engineering and Technology
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• v.11 no.3
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• pp.180-190
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• 1997

잠수함이 저심도 조건에서 특수임무 수행시, 표면파도 및 조류등 외란의 영향하에서 요구심도 및 위치 유지를 위한 강인한 자동항법장치 설계는, 첨단 군용 잠수함 개발에 필수적이다. 본 연구는 잠수함 조종 운동역학계에 기초하여, 정확한 심도 및 피치 운동 제어를 위해 선형 행렬 부등식을 이용한 혼합 $H_2/H_{\infty}$ 설계법을 사용, 다중 목적 함수로 표현된 잠수함의 조종성능들을 개선하였다. 또한, 제어기 설계법의 타당성을 수치 시뮬레이션을 통하여 검증하였다. 결과적으로 본 제어법은 각종 외란 및 계의 불확실성하에서 잠수정의 만족스러운 과도 상태 응답과 일정 심도 유지 및 피치 각도 변동 최소화에 적합한 강인한 방법임이 검증되었다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.2
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• pp.183-191
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• 2006

The accuracy of the upward continuation is assessed through the gravity modeling using an ultra-high degree spherical harmonic expansion. The difficulties in the numerical calculation of Legendre function with ultra-high degree, underflow and/or overflow, is successfully resolved in 128 bit calculation scheme. Using the generated Legendre function, the gravity anomaly with spatial resolution of $1'{\times}1'$ on the geoid is calculated. The generated gravity anomaly is degraded and extracted with various noise levels and data intervals, then upward continuation is applied to each data sets. The comparison between the upward continued gravity disturbances and the directly calculated from the spherical harmonics showed that the accuracy on the direct method was significantly better than that of Poisson method. In addition, it is verified that the denser and less noised gravity data on the geoid generates better gravity disturbance vectors at an altitude. Especially, it is found that the gravity noise level less than 5mGal, and the data interval less than 2arcmin is necessary for next generation precision INS navigation which requires the accuracy of 5mGal or better at an altitude.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.10C
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• pp.1016-1023
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• 2009

In this paper, a tracking bias compensation method is proposed for future global navigation satellite systems (GNSSs). It is observed that the correlation function of a GNSS signal has many peaks and remains almost unchanged in the advanced offset region as a result of the multipath signals arriving at the receiver later than a line-of-sight signal. Based on these observations, we use the slopes in the advanced offset region to compensate for the code tracking bias, and obtain the maximum code tracking bias, which is essential to implement the proposed scheme, in static multipath environments. Finally, it is demonstrated that the proposed compensation method is very effective for the GNSS signal tracking in terms of the code tracking biases and their running averages.