• Transactions of the Korean Society of Automotive Engineers
• /
• v.4 no.2
• /
• pp.115-126
• /
• 1996

In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.3
• /
• pp.244-249
• /
• 2008

In this paper, the stable region for missile guidance loop employing an integrated proportional navigation guidance law is derived. The missile guidance loop is formulated as a closed-loop control system consisting of a linear time-invariant feed-forward block and a time-varying feedback gain. By applying the circle criterion to the system, a bound for the time of flight up to which stability can be assured is established as functions of flight time. Less conservative results, as compared to the result by Popov criterion, are obtained.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.30 no.2
• /
• pp.153-162
• /
• 2012

In this paper, we propose a new shape similarity measure for M:N polygon pairs regardless of different object cardinalities in the pairs. The proposed method compares the projections of two shape functions onto Zernike polynomial basis functions, where the shape functions were obtained from each overall region of objects, thus not being affected by the cardinalities of object pairs. Moments with low-order basis functions describe global shape properties and those with high-order basis functions describe local shape properties. Therefore several moments up to a certain order where the original shapes were similarly reconstructed can efficiently describe the shape properties thus be used for shape comparison. The proposed method was applied for the building objects in the New address digital map and a car navigation map of Seoul area. Comparing to an overlapping ratio method, the proposed method's similarity is more robust to object cardinality.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.5B
• /
• pp.566-572
• /
• 2011

The satellite communication is an important method for maritime communications. Binary offset carrier (BOC) signal is a promising candidate of next generation global navigation satellite systems (GNSS). Synchronization of BOC signal is one of the most important processes to demodulate BOC signal in GNSS. However, in maritime environment, the synchronization of BOC signal is suffered from the problem of side-peak of BOC autocorrelation function and multipath fading caused by the sea surface reflection. In this paper, we proposed a novel synchronization scheme which can eliminate side-peak perfectly and is robust in multipath channel. Simulation results show that the proposed scheme has better performance than conventional schemes in multipath channel.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.10
• /
• pp.51-59
• /
• 2003

A method of autonomous update is presented for onboard orbit propagator. On board propagator is an alternative means that could be used for navigation purpose in case of CPS receiver's failure. Although the ground station is not a able to upload a new propagator, the onboard propagator must be maintained most up-to-date. For this, a filtering technique is proposed wherein GPS data are effectively used to continuously update the on board propagator which was uploaded previously. Even if the ground station has generated the on board propagator based on the wrong information, the onboard propagator with updating scheme can automatically correct the errors in the coefficients of residual reconstruction function. Several scenarios were used to show the validity of the scheme for updating the onboard propagator using KOMPSAT-1 orbit data.

• Journal of Korean Society for Geospatial Information Science
• /
• v.16 no.1
• /
• pp.3-12
• /
• 2008

This research is to construct wireless internet DGPS using MS Visual Basic Active X control for LBS. The coordinate correction method was used in this system because of convenience of both direction communication on Web. The PictureBox control and bitblt function were used in coordinate display module. The MS Comm control, MS Winsock control (TCP/IP), MS CommonDialog control, MS Sysinfo control were used in internet DGPS communication module and published on Web. Realtime internet DGPS were tested using the system which developed in this study and near realtime monitoring through this system could be performed.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.46 no.5
• /
• pp.402-409
• /
• 2018

In this paper, we propose a lunar landing scenario of a robotic lunar landing mission and implements an optimal landing trajectory at the powered descent phase based on the proposed scenario. The change of attitude of the lunar lander in the power descent phase affects not only the amount of fuel used but also sensor operation of image based navigation. Therefore, the attitude angular velocity is included in the cost function of the optimal control problem to minimize the unnecessary attitude change when the optimal landing trajectory generates at powered descent phase of the lunar landing. The influence of the change of attitude angular velocity on the optimal landing trajectory are analyzed by adjusting the weight of the attitude angular velocity. Based on the results, we suggest the proper weight to generate the optimal landing trajectory in order to minimize the influence of the attitude angular velocity.

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.4
• /
• pp.182-190
• /
• 2005

In the paper, we propose an intelligent automatic parking assist system. To realize an automatic parking, first, the prospective parking position and the location of a vehicle should be recognized. Second, the system should compute a path which introduces the parking position precisely with avoiding any obstacles. Third, the handle should be controlled so that the vehicle moves through the path. To calculate the location of the vehicle and its surroundings, the system applies the camera image method to transforming input images to the plane map. It also uses the inertial navigation method which recognizes the position and the direction of a moving vehicle by using a kinematic model of the vehicle. To generate a path of the vehicle, the simple path method and the Bezier spline method are tested. The divided arc method which generates multiple paths is also tested. We apply a method which makes the system choose the best path with multiple objective functions. We introduce the virtual road method, as a solution for the problem of mechanical time delay, to have the vehicle followed the designated path.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.6
• /
• pp.466-475
• /
• 2014

The IVEF service is the draft standard designed for exchange of information on sea traffic between the vessel traffic systems and between the vessels. Standardization of this service is under way as a part of the next-generation navigation system, called e-Navigation. The International Association of Lighthouse Authorities (IALA) suggests, on its recommendation V-145, the IVEF service model and the protocol for provisioning of this service. But the detailed configuration of this service must be designed by the users. This study suggests, based on the basic service model and protocol provided in the recommendation V-145, the implementation of the J-VTS middleware which will facilitate exchange of information on sea traffic. The J-VTS middleware consists of various components for providing the IVEF service and for processing the IVEF message protocols. The vessel traffic systems and the vessels corresponding to upper-layer applications may use the IVEF service with the functions provided by the J-VTS middleware, and the services are designed to be accessed according to the security level of users.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.6C
• /
• pp.505-511
• /
• 2008

The global navigation satellite system (GNSS) is using a direct sequence/spread spectrum (DS/SS) modulation. In order to recover the information data, the DS/SS system first performs a two-step synchronization process: acquisition and tracking. The acquisition process adjusts the phase difference between the received and locally generated acquisition sequences within ${\pm}T_c/2$ or less, where $T_c$ is the chip period. The tracking process performs fine synchronization. In this paper, we focus on the tracking issue. The single delta delay locked loop($\Delta$-DLL) is the optimal tracking scheme for a GNSS in the absence of multipath signals, where $\Delta$ means the spacing between the early and late correlation time offset. In the multipath environments, however, the $\Delta$-DLL suffers from huge estimation bias(denoted by $\beta$) caused by distorted correlation values. Although some modified schemes such as a $\Delta$-DLL with a narrow $\Delta$ and a double delta DLL (${\Delta}^{(2)}$-DLL) were proposed to reduce the estimation bias, they cannot remove the estimation bias completely and need more accurate acquisition process. This paper proposes a novel tracking scheme that can dramatically reduce the estimation bias, using the maximum slope change among the correlation outputs.