• 한국군사과학기술학회지
• /
• 제14권3호
• /
• pp.353-358
• /
• 2011

In this paper, we have introduced a Missile In the Loop Simulation(MILS) Software developed for the missile ground test, which is based on a commercial hard real-time operating system(OS) on Windows platform called as Real-Time eXtension(RTX). MILS software makes it possible to test overall system functions of a integrated missile on the ground in the flight conditions by real-time imitating its inertial data. By means of MILS, we have performed missiles ground tests, which result in successful real flight tests.

• Journal of Positioning, Navigation, and Timing
• /
• 제9권4호
• /
• pp.379-385
• /
• 2020

The satellite employs an adaptive beamformer to efficiently detect various signals and to suppress multiple interference signals, simultaneously. Although the adaptive beamforming satellite system needs Angle-of-Arrival (AOA) information of the desired signal, it is difficult to estimate the signal AOAs on the satellite environment. However, the AOA estimation on the ground control tower is more efficient and accurate comparing to the satellite environment. In this paper, we propose an adaptive beamforming satellite system based on the signal location information on the ground, consisting on an angle estimator, an adaptive beamformer, and signal processing & D/B unit. The ground control tower estimates the accurate location of the signal source, and it sends the estimated coordinates of the desired signal to the satellite. The angle estimator mounted on the satellite calculates the desired signal AOA, based on the signal location information transmitted from the ground control center. The satellite beamformer detects the desired signal and suppresses unwanted signals based on the signal AOA calculated by the angle estimator. We provide computer simulation results to present the performance of the proposed satellite adaptive beamforming system based on the signal location information.

• Journal of Positioning, Navigation, and Timing
• /
• 제3권2호
• /
• pp.83-90
• /
• 2014

In this study, to improve an existing ground-wave based time broadcasting system, a study that predicts the field distribution and field strength of the transmitted signal of a new ground-wave based time broadcasting system was performed. The prediction area was assumed to be the Korean peninsula; and to reflect the mountainous terrain of the Korean peninsula in the prediction of the variations of field distribution and field strength, a new prediction method based on the Monteath model was proposed and utilized. As field distribution changes depending on the position of a transmitter station, potential sites for the transmitter station were selected considering the geographical characteristics. In this regard, the ground conductivity information of North Korea cannot be obtained, and thus, the ground conductivity of the North Korean region was reflected considering the geological characteristics of South Korea and North Korea. Based on this, the variations of field distribution and field strength were predicted by setting the Korean peninsula as the prediction area, and the prediction results depending on the position of the transmitter station were discussed.

• 한국항해항만학회지
• /
• 제33권2호
• /
• pp.119-125
• /
• 2009

The effect of plastic board drains (PBDs)on ground improvement was checked out considering three crucial factors: ground settlement, undrained shear strength, and residual water head. First, the settlement analysis including initial settlement induced by reclamation of sand mat was conducted by back calculation analysis with measured data. Its result showed toot the PBDs used for this site worked well on improving soft ground. Secondly, the undrained shear strength was investigated by laboratory and in-situ tests including unconsolidated-undrained triaxial compression (UU) tests, unconfined compression tests, in-situ vane tests, and cone penetration tests. From the test results, they showed that the undrained shear strength of the improved ground by PBDs was significantly increased as well as the strength increasing ratio especially $10{\sim}15m$ below the ground surface on site. Thirdly, the residual water head measurement from the in situ dissipation test was found the same as the static water head, which indicated primary consolidation was completed and the effect of soil improvement with PBDs can be confirmed.

• 한국기계가공학회지
• /
• 제21권4호
• /
• pp.114-130
• /
• 2022

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

• Journal of Positioning, Navigation, and Timing
• /
• 제2권2호
• /
• pp.101-108
• /
• 2013

GPS is the most widely-used Positioning, Navigation, and Timing (PNT) system. Since GPS is an important PNT infrastructure, the vulnerability of GPS to signal jamming has received significant attention. Especially, South Korea has experienced intentional high-power jamming from North Korea for the past three years, and thus realized the necessity of a complementary PNT system. South Korea recently decided to deploy a high-power terrestrial navigation system, eLoran, as a complementary PNT system. According to the plan, the initial operational capability of the Korean eLoran system is expected by 2016, and the full operational capability is expected by 2018. As a necessary research tool to support the Korean eLoran program, an eLoran performance simulation tool for Korea is under development. In this paper, the received signal strength, which is necessary to simulate eLoran performance, from the suggested Korean eLoran transmitters is simulated with the consideration of effective ground conductivities over Korea. Then, eLoran signal-to-noise ratios are also simulated based on atmospheric noise data over Korea. This basic simulation tool will be expanded to estimate the navigation performance (e.g., accuracy, integrity, continuity, and availability) of the Korean eLoran system.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.967-976
• /
• 2016

This paper presents a 3D carrier-smoothed GNSS/DR (Global Navigation Satellite System/Dead Reckoning) integrated system for precise ground-vehicle trajectory estimation. For precise DR navigation on sloping roads, the AHRS (Attitude Heading Reference System) methodology is employed. By combining the integrated carrier phase of GNSS and DR sensor measurements, a vehicle trajectory with an accuracy of less than 20cm is obtained even when cycle slip or change of visibility occur. In order to supplement the weak GNSS environment with DR successfully, the DR sensor is precisely compensated for using GNSS Doppler measurements when GNSS visibility is good. By integrating a multi-GNSS receiver with low-cost IMU, a precise 3D navigation system for land vehicles is proposed in this paper. For real-time implementation, a decoupled Kalman filter is employed in the integrated system. Through field experiments, the performance of the proposed system is verified in various road environments, including sloping roads, good-visibility areas, high multi-path areas, and under-ground parking areas.

• 한국군사과학기술학회지
• /
• 제14권6호
• /
• pp.993-1001
• /
• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• 제어로봇시스템학회논문지
• /
• 제20권2호
• /
• pp.211-217
• /
• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• 제어로봇시스템학회논문지
• /
• 제21권8호
• /
• pp.773-780
• /
• 2015

Navigation in outdoor environments is a fundamental and challenging problem for unmanned ground vehicles. Detecting lane markings or boundaries on the road may be one of the solutions to make navigation easy. However, because of various environments and road conditions, a robust lane detection is difficult. In this paper, we propose a new approach for estimating virtual lanes on a traversable region. Estimating the virtual lanes consist of two steps: (i) we detect virtual road region through road model selection based on traversability at current frame and similarity between the interframe and (ii) we estimate virtual lane using the number of lane on the road and results of previous frame. To improve the detection performance and reduce the searching region of interests, we use a probability map representing the traversability of the outdoor terrain. In addition, by considering both current and previous frame simultaneously, the proposed method estimate more stable virtual lanes. We evaluate the performance of the proposed approach using real data in outdoor environments.