• 한국해양공학회지
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• 제17권6호
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• 한국항해항만학회지
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• 제29권3호
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• pp.245-250
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• 2005

본 논문에서는 OFDM 시스템의 문제점으로 지적되고 있는 송신단의 피크전력 대 평균전력비(Peak to average Power Rate; PAR) 을 고려하여 부호화된 OFDM (Coded OFDM) 시스템을 설계하고 PAR 저감기법을 사용하여 BER (Bit Error Rate)과 SNR (Signal to Noise Ratio) 특성을 평가하였다. 변조방식에 따른 성능 평가를 위하여 M-ary PSK와 M-ary QAM 방식을 비교하였고, 그 결과 16-PSK와 16-QAM 의 성능이 우수하게 나타났다. 또한 16-QAM이 16-PSK 방식보다 10-3의 오차범위에서 2 dB 더 우수한 성능을 보였으며, Peak Power Clipping 기법에서는 약 5dB 정도 우수한 성능을 보였다.

• 한국항해항만학회지
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• 제27권2호
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• pp.209-215
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• 2003

본 논문은 IMT-2000 기지국용 15 Watt Feedforward 선형전력증폭기(Linear Power Amplifier; LPA)의 구현을 위한 에러증폭기를 설계 및 제작하여, 그 성능을 평가하였다. 에러증폭기는 상호 변조 왜곡 신호(Intermodulation Distortion: IMD)만을 검출하기 위한 빼기회로, RF 신호의 세기 및 위상을 제어하기 위한 가변 감쇠기, 가변 위상변환기, 그리고 신호의 증폭을 위한 저전력증폭기, 대전력증폭기로 구성되었다. 이들 구성요소는 RO4350 기판 위에 구현되어, 틴 도금한 알루미늄 기구물 안에 바이어스 회로와 함께 집적하였다. 제작시 RF 회로부의 바이어스 회로에 전원을 공급하기 위하여 내벽에 관통형 커패시터를 삽입하여 DC 전원에 의한 스퓨리어스 성분이 제거되도록 하였다. 제작된 에러증폭기는 45 dB 이상의 이득, $\pm$ 0.66 dB의 이득평탄도, -15 dB 이하의 입력반사 손실 특성을 나타내었다. 또한 성능을 평가하기 위해 Feedforward 방식의 LPA에 적용한 결과 주증폭기의 IM3 성분이 34 dBc에서 61 dBc,개선되었다. 이때 오차루프의 상쇄지수는 약 27 dB, 최종 출력 전력은 15 W로 나타났다.

• 로봇학회논문지
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• 제15권1호
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• pp.24-31
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• 2020

Alternative navigation in underwater environments is essential to prevent accumulating drift error of dead reckoning. In case of using an external positioning system, the installation and management process of the transmission station is cumbersome, and the operation range of underwater vehicle is limited. In order to solve this problem, navigation using geophysical information such as terrain, geomagnetic field and gravity can be used. Unlike the terrain, geomagnetic field and gravity are composed of 3-D information, so continuation process is required. In this paper, we present a integrated navigation algorithm using multiple geophysical information for long-term operation of UUV. The proposed algorithm is verified through numerical simulation in an artificially generated environments. As a result, integrated navigation showed higher navigation accuracy than single alternative navigation.

• 한국항행학회논문지
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• 제8권2호
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• pp.163-168
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• 2004

본 논문에서는 HDR-WPAN(high data rate wireless personal area network) 시스템의 CAZAC sequence 특성을 이용한 주파수 동기 알고리즘을 제안하고, 신호 성상도 및 EVM(error vector magnitude)를 통해 성능을 분석해 본다. 제안된 방식에서 주파수 옵셋은 자기상관성이 우수한 12개의 CAZAC sequence 가운데 두 개 sequence의 각 샘플간 위상오차를 추정하였으며, 추정된 위상오차는 다음 sequence 내 각각의 샘플에 곱해지면서 위상오차를 보상하게 된다. 두 개의 sequence로 주파수 옵셋을 보상한 후 남은 잔류 주파수 옵셋은 샘플 당 최대 0.002도 이내가 되며 DQPSK의 경우 20[dB]에서 EVM의 허용 기준값을 만족할 수 있음을 컴퓨터 시뮬레이션을 통해 확인한다.

• 전기학회논문지
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• 제63권8호
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• pp.1075-1079
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• 2014

In this paper, we describe the analysis and the compensation method of the g-sensitivity error for MEMS vibratory gyroscopes. Usually, the g-sensitivity error has been ignored in the commercial MEMS gyroscope, but it deserves our attention to apply for the missile application as a tactical grade performance. Thus, it is necessary to compensate for the g-sensitivity error to reach a tactical grade performance. Generally, the g-sensitivity error seems intuitively to be a gyroscope bias error proportional to the linear acceleration. However, we assert that the g-sensitivity error mainly causes not a bias error but a scale-factor error. And we verify that the g-sensitivity scale-factor error occurs due to the non-linearity of parallel plate electrodes. Therefore, we propose the compensation method to remove the g-sensitivity scale-factor error. The experimental result showed that a proposed compensation method improved successfully the performance of the MEMS vibratory gyroscope.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.2
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• pp.598-601
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• 2006

The radio signal in GNSS was intentionally designed with two frequencies in order to combat the dispersion error caused by trans-ionospheric propagation. By measuring the path delay independently at the two, widely spaced GPS frequencies, L1 & L2, the TEC along the path from satellite to receiver can be measured directly. The issue with dual frequency measurement of the ionosphere is the calibration of L1/L2 interfrequency biases. L1/L2 interfrequency biases are generated because physical electric signal paths of L1 and L2 circuits are different from each other for both satellites and receiver. Conventionally L1/L2 interfrequency bias is estimated and broadcasted by 2D ionospheric model. In this paper, we estimated IFB (interfrequency bias) by 2D & 3D ionospheric models including real time filter methods and compared the result of those and concluded the merit of 3D tomography model to recover the problem of 2D thin shell model. We confirmed our conclusion by experimental data.

• Journal of Positioning, Navigation, and Timing
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• 제6권1호
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• pp.27-33
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• 2017

GPS provides the positioning solution in most areas of the world. However, the position error largely occurs in the urban area due to signal attenuation, signal blockage, and multipath. Although many studies have been carried out to solve this problem, a definite solution has not yet been proposed. Therefore, research is being conducted to solve the vehicle localization problem in the urban environment by converging sensors such as cameras and Light Detection and Ranging (LIDAR). In this paper, the precise vehicle localization using 3D LIDAR (Velodyne HDL-32E) is performed in the urban area. As there are many tall buildings in the urban area and the outer walls of urban buildings consist of planes generally perpendicular to the earth's surface, the outer wall of the building meets at a vertical corner and this vertical corner can be accurately extracted using 3D LIDAR. In this paper, we describe the vertical corner extraction method using 3D LIDAR and perform the precise localization by combining the extracted corner position and GPS/DR information. The driving test was carried out in an about 4.5 km-long section near Teheran-ro, Gangnam. The lateral and longitudinal RMS position errors were 0.146 m and 0.286 m, respectively and showed very accurate localization performance.

• 한국항행학회논문지
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• 제13권3호
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• pp.337-343
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• 2009

본 논문에서는 D8PSK 변조 방식을 이용하는 VDL Mode-2 수신기에 적용 가능한 버스트 모드 심벌 타이밍 복원기를 제안하고 성능 분석과 연동실험을 실시하였다. IIR 루프필터를 사용하여 심볼 타이밍 에러를 최소화 하는 방식은 수렴 속도가 늦기 때문에 버스트 모드에 적용하기 곤란하다. 즉 빠른 수렴 특성이 중요시 된다. 본 논문에서 제안한 방식은 프리앰블을 이용하여 초기 동기가 이루어진 후 최대 심벌 전력을 갖는 방향으로 한 샘플 빠르게 또는 한 샘플 느리게 샘플 클럭을 이동하여 최적의 심벌을 취하는 방식이다. 제안된 방식을 적용한 수신기와 호주 ADS사 송신 장비와 연동 시험한 결과 100 ppm 이상에서도 잘 동작함을 확인하였다.