• Spatial Information Research
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• v.16 no.1
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• pp.65-77
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• 2008

There have been many studies and technologies that define a current location of a moving vehicle with GPS(Global Positioning System). However, the navigation system with GPS has troubles to search an optimized route considering data such as realtime parking status and road conditions. Moreover, the GPS systems show malfunction in the downtown with very tall buildings, underground parking lot and the inside of buildings. On the contrary, the RFID systems are able to reflect real-time status of parking lots and roads in the downtown. This paper proposes a system of guiding path for parking lots to consider real-time constraints based on RFID. The results obtained from the implemented system show smooth guiding of a new route after immediately sensoring the change of the information of parking lots and roads: if a parking lot that a vehicle is heading to is fully occupied, the system re-searches a new route for a neighbor parking lot and immediately transfers it to customer's mobile, and if the designated route is under construction, the system guides a detour path. The proposed method will be useful for advanced integrated parking control system.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.569-575
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• 2013

This paper proposes a method for PDR (Pedestrian Dead-Reckoning) using a low cost IMU. Generally, GPS has been widely used for localization of pedestrians. However, GPS is disabled in the indoor environment such as in buildings. To solve this problem, this research suggests the PDR scheme with an IMU attached to the pedestrian's waist. However, despite the fact many methods have been proposed to estimate the pedestrian's position, but their results are not sufficient. One of the most important factors to improve performance is, a new calibration method that has been proposed to obtain the reliable sensor data. In addition to this calibration, the PDR method is also proposed to detect steps, where estimation schemes of step length, attitude, and heading angles are developed. Peak and zero crossings are detected to count the steps from 3-axis acceleration values. For the estimation of step length, a nonlinear step model is adopted to take advantage of using one parameter. Complementary filter and zero angular velocity are utilized to estimate the attitude of the IMU module and to minimize the heading angle drift. To verify the effectiveness of this scheme, a real-time system is implemented and demonstrated. Experimental results show an accuracy of below 1% and below 3% in distance and position errors, respectively, which can be achievable using a high cost IMU.

• Journal of Korean Society for Geospatial Information Science
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• v.3 no.2 s.6
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• pp.131-136
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• 1995

In this paper, We explain the development of helicopter avation information system which provides the current location and other pre-saved informations in order to guarantee the safe aviation. The system we developed has the functions such as displaying digital map data and current location, route planning, displaying the rate of deviation, calculating and displaying the cross sectional view through the route and providing a real-time speed, heading and other informations. In this system, we use GPS to get the current location, made the 1:250,000 digital map to display the current location and made the cross sectional view from the DEM(Digital Elevation Mode)) data to help safe aviation. This system provides many kinds of route setting methods by using UTM coordinates, Lati. Longi, coordinates, database of heliport location, scanned map, etc., and displaying the heading and distance. Moreover, it also has a characteristic of providing a consistent user interface.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.77-81
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• 2006

GPS cannot determine random errors such as multipath and signal cutoff caused by surrounding environment that determines the visibility of satellites and the speed of data creation and transmission is lower than the speed of vehicles, it is difficult to determine accurate dynamic positions. Thus this study purposed to implement a method of deciding the accurate dynamic position of vehicles by combining AHRS (Attitude Heading Reference System) IMU (Initial Measurement Unit) based on low-priced MEMS (Micro Electro Mechanical System) in order to provide the information of attitude, position and speed at a high transmission rate without external help. This study conducted an initialization test to decide dynamic position using AHRS IMU sensor, and derived attitude correction angles of vehicles against time through regression analysis. The roll angle was $y=(A{\times}10^{-6})x^2 -(B{\times}10^{-5})x+Cr{\times}10^{-2}$ and the pitch angle was $y=(A{\times}10^{-6})x^2-(B{\times}10^{-7})x+C{\times}10^{-2}$, each of which was derived from second-degree polynomial regression analysis. It was also found that the heading angle was stabilized with variation less than $1^{\circ}$ after 60 seconds.

• Journal of Navigation and Port Research
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• v.41 no.4
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• pp.189-194
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• 2017

The Moving Search Radar System (MSRS) monitors sea areas by moving along the coast. Since the radar is initially aligned to the front of the vehicle, it is important to know the changes in the heading azimuth of the vehicle to quickly acquire the target azimuth from the radar after the MSRS has moved. The heading azimuth can be obtained using the gyro compass, the GPS compass or the electronic compass. The electronic compass is suitable for MSRS requiring fast maneuverability due to its small volume, short stabilization time and low price. However, using a geomagnetic sensor may result in an error due to the surrounding magnetic field. Errors can make early automatic tracking of the satellites difficult and can reduce the radar detection accuracy. Therefore, this paper proposes a method to automatically compensate for the error reflecting the correction value on the radar obtained by comparing the reference azimuth calculated by solving the geodesic inverse problem using two coordinates between the radar and the geostationary satellite with the actually-directed azimuth angle of the satellite antenna. The feasibility and convenience of the proposed method were verified by applying it to the MSRS in the field.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1098-1102
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• 2014

Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

• Journal of Ocean Engineering and Technology
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• v.34 no.6
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

• Journal of the Korean Society of Marine Environment & Safety
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• v.18 no.3
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• pp.221-226
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• 2012

This research presents an analysis of algorithm for ship track-keeping along a given trajectory. The maneuver of a free running model ship guiding through a simple path are presented. In order to solve the above problem, a desired trajectory is usually determined by GPS points in a pre-fixed place then these points are set in a pre-programmed navigation so that the ship would be automatically tracked. Proportional-Derivative(PD) control which is useful for fast response controllers was used in this program as a course keeping system. A high accuracy GPS receiver was installed on the model ship that could provide positions frequently, the system will compare and give out the remaining distance and heading to the target way-point. The results of ship auto track-keeping experiment will be explained in order to illustrate the adjustment in controlling parameters. These results can be utilized as a preliminary step to carry out the experiment of ship collision avoidance system and automatic berthing in the future.