• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1403-1406
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• 1997

Generally, G.P.S(Global Positioning System) is using for the car navigation system but it has some restrictions such as the discontinuity of earth satellites and SA (Selective Availability). Recently, the hybrid navigation system combining with G.P.S and Dead-reckoning are much attractuve for improving the accuracy of a vehicle positioning. G.P.S called satellite navigation system, can measure its position by using satellites. Dead-Reckoning is the self-contained navigatioin system using a wheel sensor for the vehicle velocity and a gyro sensor for the vehicle angular velocity. Some algorithm could be generated for finding the vehicle position and orientation. In this paper, we developed a hybrid algotithm wiht G.P.S DR and Map-Matching.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권3호
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• pp.835-854
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• 2012

In this paper, we propose a novel positioning system for indoor navigation which helps a user navigate easily to desired destinations in an unfamiliar indoor environment using his mobile phone. The system requires only the user's mobile phone with its basic equipped sensors such as a camera and a compass. The system tracks user's positions and orientations using a vision-based approach that utilizes $360^{\circ}$ panoramic images captured in the environment. To improve the robustness of the vision-based method, we exploit a digital compass that is widely installed on modern mobile phones. This hybrid solution outperforms existing mobile phone positioning methods by reducing the error of position estimation to around 0.7 meters. In addition, to enable the proposed system working independently on mobile phone without the requirement of additional hardware or external infrastructure, we employ a modified version of a fast and robust feature matching scheme using Histogrammed Intensity Patch. The experiments show that the proposed positioning system achieves good performance while running on a mobile phone with a responding time of around 1 second.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.479-483
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• 2006

Indoor positioning is recently highlighted and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are often classified into time-based and angle-based one, and this paper presents the error analysis of these location methods. Because measurement equations of these methods are nonlinear, linearization is usually needed to get the position estimate. In this paper, Gauss-Newton method is used in the linearization. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of error ellipses of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid scheme is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA method.

• 한국통신학회논문지
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• 제38C권8호
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• pp.663-673
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• 2013

무선인터넷과 이동통신 기술의 발달 및 스마트폰의 급속한 확산으로 인해 사용자의 현재 및 과거의 위치 정보를 사용하여 다양한 부가정보를 제공하는 위치기반 서비스에 대한 관심이 급증하고 있다. 위치기반 서비스의 본격적인 활성화를 위해서는 정확한 측위가 기본이 된다. GPS (Global Positioning System)과 WPS (Wi-Fi Positioing System)가 상용화 되면서 측위 기술에 일대 혁신을 가져왔으나 실내환경에서 많은 제약을 가졌다. 이에 관성센서(IMU: Inertia Motion Unit)를 사용한 네비게이션 (Navigation)기술을 실내환경에서 응용하려는 시도가 정밀 측위의 관점에서 논의되고, 관성센서의 장착이 스마트폰에 일상화 되면서 실내 정밀 측위 확산의 시초를 갖게 되었다. 본 논문에서는 IMU와 WPS를 결합하여 각각의 단점을 극복하고 측위 품질을 혁신적으로 향상 시킬 수 있는 알고리즘 프레임워크를 제안한다. 본 연구를 위해 스마트폰에서 구현되는 측위 테스트 프로그램을 구현하고 이를 적용할 실질적인 실내외 테스트베드를 구성하여 활용하였으며 이로서 대규모로 확장 적용할 수 있는 기반을 구성했다는 면에서 충분한 의미를 지닌다.

• Journal of Positioning, Navigation, and Timing
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• 제5권2호
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• pp.97-107
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• 2016

Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권2호
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• pp.723-743
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• 2016

Indoor positioning is considered an enabler for a variety of applications, the demand for an indoor positioning service has also been accelerated. That is because that people spend most of their time indoor environment. Meanwhile, the smartphone integrated powerful camera is an efficient platform for navigation and positioning. However, for high accuracy indoor positioning by using a smartphone, there are two constraints that includes: (1) limited computational and memory resources of smartphone; (2) users' moving in large buildings. To address those issues, this paper uses the TC-OFDM for calculating the coarse positioning information includes horizontal and altitude information for assisting smartphone camera-based positioning. Moreover, a unified representation model of image features under variety of scenarios whose name is FAST-SURF is established for computing the fine location. Finally, an optimization marginalized particle filter is proposed for fusing the positioning information from TC-OFDM and images. The experimental result shows that the wide location detection accuracy is 0.823 m (1σ) at horizontal and 0.5 m at vertical. Comparing to the WiFi-based and ibeacon-based positioning methods, our method is powerful while being easy to be deployed and optimized.

• 한국통신학회논문지
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• 제37C권9호
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• pp.774-783
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• 2012

이 논문에서는 안전하고, 오래 지속되고, 휴대기능의 하이브리드 측위 시스템을 제안하고 구현한다. 제안된 시스템은 목표물의 위치정보에 대응하는 가시광 데이터를 생산하는 LED 조명, 저 전력 우수한 보안성, 서비스 확장 범위 기능 특성을 가지는 지그비 무선 네트워크 모듈로 구성이 된다. 제작된 하이브리드 측위 시스템을 목표물과 관측자사이 23.62m 거리이고 장애물이 있는 실내 환경에서 시험하여 지그비 삼단 다중홉 애드혹 무선 네트워킹과 가시광 동작 기능들을 검증하고, 하이브리드 측위 알고리즘, 신호 추정 과정, 하드웨어 구현, 임베디드 소프트웨어 개발 등에 대해 설명하고, 측위 시험 결과에 대해 다룬다.

• 한국비블리아학회지
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• 제20권2호
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• pp.45-58
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• 2009

지식기반사회와 디지털환경의 도래로 도서관 특히 국가도서관이 변화하고 있으며, 도서관의 핵심인 장서개발에 대한 새로운 개념, 과정 및 도구가 변화하고 있다. 이 논문의 목적은 국가도서관에서 지속가능한 자원의 수집과 보존을 보장하기 위해 하이브리드 자원 개발의 방향을 제시하고자 한다. 따라서 이 논문은 국가도서관과 장서개발의 변화를 살펴보고, 표준에서 제시된 성과지표, 정의, 목적 및 사명을 통한 국가도서관의 포지셔닝에 의거하여 국가 장서의 범위를 고찰하였다. 또한 도서관 관련법을 통해 디지털자원의 납본방법을 제시하고, 국가도서관에서 하이브리드 장서개발체계와 함께 온라인 디지털 자원의 아카이빙 방법을 고찰하였다.

• 디지털산업정보학회논문지
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• 제16권4호
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• pp.1-7
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• 2020

Over the past few years, Wi-Fi signal based indoor positioning system (IPS) has been researched extensively because of its low expenses of infrastructure deployment. There are two major aspects of location-related information contained in Wi-Fi signals. One is channel state information (CSI), and one is received signal strength indicator (RSSI). Compared to the RSSI, the CSI has been widely utilized because it is able to reveal fine-grained information related to locations. However, the conventional IPS that employs a single access point (AP) does not exhibit decent performance especially in the environment of non-line-of-sight (NLOS) situations due to the reliability degeneration of signals caused by multipath fading effect. In order to address this problem, in this paper, we propose a novel method that utilizes multiple APs instead of a single AP to enhance the robustness of the IPS. In our proposed method, a hybrid neural network is applied to the CSIs collected from multiple APs. By relying more on the fingerprint constructed by the CSI collected from an AP that is less affected by the NLOS, we find that the performance of the IPS is significantly improved.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.67-73
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• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.