• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.982-987
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• 2012

In this paper, the SNR estimation error of Decision Directed SNR estimation method in AWGN is investigated, which uses samples received in reference decision region. In communication system receiver, when SNR estimation scheme using error vectors between ideal sample points and received sample points of reference region is adopted, the samples contain incorrectly received samples due to AWGN. Consequently, the mean of estimated reference constellation point is shifted and Decision Directed SNR estimation is inaccurately performed. These effects are explained by modified probability density function and difference between actual SNR and estimated SNR is theoretically derived and quantatively analyzed. It is proved that SNR estimation error obtained through computer simulation is matched up with derived one, and SNR estimation performance is enhanced significantly by adopting suggested correction scheme.

• International Journal of Ocean System Engineering
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• v.2 no.3
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• pp.139-150
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• 2012

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.3
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• pp.343-352
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• 1998

The use of DGPS enhances standalone GPS accuracy and removes common errors from two or more receivers viewing the same satellites. The design of DGPS system contains a precise reference point which is able to compute the common errors to update the pseudo range of users receivers. It should take a great time and cost to provide precise and sufficient accuracy of the reference point. That is, it is natural to measure the parameters from satellites with specific survey instrument system, and then obtain that by post processing. The purpose of the study is to examine the bounds of accuracy which resulted from RTCM correction data transmitted from a simply designed DGPS system. In the paper, We design and evaluate the DGPS system based m the surveyed reference point, and Sub-optimal no by a Standalone GPS as well. As a result of the study, it is shown that the designed system may be applied to the specific marine activity in civilian and military.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.1
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• pp.44-51
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• 2005

To provide more accurate and reliable positioning and timing services to Korean nationwide users, the Ministry of Maritime Affairs and Fisheries of Korea is implementing Korean NDGPS (Nationwide DGPS), which is operational partly. And it also has a plan to construct WADGPS (Wide Area Differential GPS) system using sites and equipments of the NDGPS reference stations. For that, Seoul National University GNSS Laboratory is implementing and testing prototypes of WRS (Wide-area Reference Station) and WMS (Wide-area Master Station). Until now, because there are not enough installed WRSs to be used for computing wide area correction information, we cannot test algorithms of WMS with the data processed actually in WRSs. Therefore to evaluate the performance of the algorithms, we made a MATLAB program which can process RINEX (Receiver INdependent Exchange) format data with WADGPS algorithm. Using that program which consists of WRS, WMS and USER modules, we processed the data collected at NDGPS reference stations, which are saved in RINEX format. In WRS module, we eliminate the atmospheric delay error from the pseudorange measurement, smooth the measurement by hatch filter and calculate pseudorange corrections for each satellite. WMS module collects the processed data from each reference stations to generate the wide area correction information including estimated satellite ephemeris errors, ionospheric delays at each grid point, UDRE (User Differential Range Error), GIVE (Grid Ionosphere Vertical Error) and so on. In USER part, we use the measurements of reference stations as those of users and estimate the corrected users' positions and protection levels (HPL, VPL). With the results of estimation, we analyzed the performance of the algorithms. We assured the estimated UDRE /GIVE values and the protection levels bound the corresponding errors effectively. In this research, we can expect the possible performance of WADGPS in Korea, and the developed modules will be useful to implementation and improvement of the algorithms.

• Ecology and Resilient Infrastructure
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• v.8 no.2
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• pp.88-96
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• 2021

In surface image velocimetry, a wide area of a river is photographed at an angle to measure its velocity, inevitably causing image distortion. Although a distorted image can be corrected into an orthogonal image by using 2D projective coordinate transformation and considering reference points on the same plane as the water surface, this method is limited by the uncertainty of changes in the water level in the event of a flood. Therefore, in this study, we developed a tilt image correction technique that corrects distortions in oblique images without resetting the reference points while coping with changes in the water level using the geometric relationship between the coordinates of the reference points set at a high position the camera, and the vertical distance between the water surface and the camera. Furthermore, we developed a distortion correction method to verify the corrected image, wherein we conducted a full-scale river experiment to verify the reference point transformation equation and measure the surface velocity. Based on the verification results, the proposed tilt image correction method was found to be over 97% accurate, whereas the experiment result of the surface velocity differed by approximately 4% as compared to the results calculated using the proposed method, thereby indicating high accuracy. Application of the proposed method to an image-based fixed automatic discharge measurement system can improve the accuracy of discharge measurement in the event of a flood when the water level changes rapidly.

• Journal of the Korean Solar Energy Society
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• v.31 no.3
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• pp.1-7
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• 2011

In the performance test for wind turbines of medium and large, The reference met-mast should be installed for measurement reference wind speed as IEC 61400-12-1 standards and design of booms for mounted an anemometer must be considered exactly. Boom-mounted cup anemometer are influenced by flow distortion of the mast and the boom. Therefore design of booms must be important so that flow distortion due to booms should be kept below 0.5%. But, in some cases at size of met-mast structure, the distance of boom from mast is longer then measurement of wind speed is impossible because of oscillation of boom-mounted anemometer. In this paper, We measured a wind speed at several point from mast and boom and we analyzed the error of wind speed at each point of measurement. Also, we will suggest a correction method using the data curve fitting about errors of wind speed between each point of mounted anemometer.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.279-289
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• 2021

GNSS receivers capable of tracking multiple Global Navigation Systems (GNSSs) simultaneously are widely used. In order to estimate accurate user position and velocity, it is necessary to consider the key elements that contribute to the interoperability of the different GNSSs. Typical examples are the time system and the coordinate system. Each GNSS is operated based on its own reference time system depending on when the system was developed and whether the leap seconds are applied. In addition, each GNSS is designed based on its own coordinate system based on earth model constant values. This paper addresses the interoperability issues from the viewpoint of Single Point Positioning (SPP) users utilizing multiple GNSS signals from GPS, GLONASS, BeiDou, and Galileo. Since the broadcast ephemerides of each GNSS are based on their own time and coordinate systems, the time and the coordinate systems should be unified for any user algorithm. For this purpose, this paper proposes a method of converting each GNSS coordinate system into the reference coordinate system through Helmert transformation. The error of the broadcast ephemerides was calculated with the precise ephemerides provided by the International GNSS Service (IGS). The effectiveness of the proposed multi-GNSS correction and transformation method is verified using the Multi-GNSS Experiment (MGEX) station data.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.2
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• pp.59-64
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• 1983

This paper deals with the transient energy method of transient stability analysis of multi-machine power system by improving the transfer conductance, the kinetic energy and the critical transient energy. The tranfer conductance is considered more correctly, the generators of system are seperated to two states (critical and the rest state)and the correction term of critical transient energy (to reference point) is added. This analysis is performed by digital computer simulation and the application of this method to two model systems has shown its superiority to other available methods.

• Archives of Plastic Surgery
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• v.44 no.4
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• pp.332-336
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• 2017

Background Little is known concerning hair diameter variation within the safe donor area for hair transplantation surgery. Thicker or thinner hair may be needed, depending on the recipient area, hairline design, and the purpose of surgery. Methods Twenty-seven patients (7 men and 20 women; mean age, 28 years; range, 20-47 years) were included in this study. The midoccipital point was used as the reference point on the horizontal plane at the upper border of the helical rim. The target area width was 15 cm (7.5 cm to the right and left of the reference point) and the height was 8 cm (2 cm above and 6 cm below the reference point). The study area was divided horizontally into 3 5-cm sections (A, B, C) and vertically into 4 2-cm sections (1-4), creating a total of 12 zones. Ten anagen hairs were randomly obtained from each zone and their diameters were measured. Results Hair diameter in the 4 vertical sections varied significantly, gradually decreasing from sections 1 (superior) to 4 (inferior) in all 3 horizontal sections (A, B, and C). Conclusions Our results suggest that sections 1 and 2 of the occipital safe donor area would be useful for obtaining thicker hair, such as in procedures to treat male- and female-pattern hair loss, whereas hair from zones 3 and 4 could be useful for transplantation surgery requiring thinner hair, such as eyebrows, eyelashes, and female hairline correction. Our results may be clinically valuable for planning hair transplant surgery and choosing the optimal donor region.