• Journal of Navigation and Port Research
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• v.43 no.5
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• pp.281-288
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• 2019

In this paper, we implemented a mobile application of location-based augmented reality that combines self-sensing technology and various safety information using technological advancements of the smartphone. Vessel navigation is a suitable area for augmented reality because it requires accurate knowledge of the distance and location of destinations, danger zones, AtoN, and adjacent vessels. Current smartphone applications only provide 2D images and location information. Such applications do not include information about the surrounding environment, and as a result, they can only function using their own sensing information and surrounding information into a location-based augmented reality. If you provide a variety of sensor information embedded in the smartphone to 'BadaGO', the implemented application through this study, 'BadaGO' can provide safe navigation information to the user device in real time with a variety of its own formed information. The user has a high practicality and applicability of a small ship that is supplied with safe navigation information in a changing marine environment only by providing information through the application on the smartphone.

• Journal of Navigation and Port Research
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• v.43 no.5
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• pp.289-295
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• 2019

In this paper, we implemented a safety navigation mobile application that converged AtoN information and location-based services. When application user uses the smartphone's GPS sensor to transmit the user's vessel location data to the data server, the user receives information of which its providing range is considered, such as stored AtoN data, neighboring vessels information, danger area, and weather information in the server. Providing information is sorted based on the smartphone's direction and inclination and it will be also delivered via wireless network (5G, LTE, 3G, WiFi). Additionally the application is available to implement other functions such as information provision through voice and text alarming service when the user's vessel is either approaching or entering the danger area, and an expanded information provision service that is available in shadow area linking with data-storing methods; other linkable data such as weather and other neighboring vessels will be applied based on the lasted-saved data perceived from the non-shadow area.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.71-76
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• 2006

With the rapid development of spatial infrastructure in US, Europe, Japan, China and India, there is no doubt that the next generation Global Navigation Satellite System (GNSS) will improve the integrity, accuracy, reliability and availability of the position solution. GNSS is becoming an essential element of personal, commercial and public infrastructure and consequently part of our daily lives. However, the applicability of GPS in supporting a range of location-sensitive applications such as location based services in an urban environment is severely curtailed by the interference of the 3D urban settings. To characterize and gain in-depth understanding of such interferences and to be able to provide location-based optimization alternatives, a high-fidelity 3D urban model of Melbourne CBD built with ArcGIS and large scale high-resolution spatial data sets is used in this study to support a comprehensive simulation of current and future GNSS signal performance, in terms of signal continuity, availability, strength, geometry, positioning accuracy and reliability based on a number of scenarios. The design, structure and major components of the simulator are outlined. Useful time-stamped spatial patterns of the signal performance over the experimental urban area have been revealed which are valuable for supporting location based services applications, such as emergency responses, the optimization of wireless communication infrastructures and vehicle navigation services.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.215-221
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• 2010

This paper introduces development of location estimation and navigation system of mobile robots using USN and LEGO Mindstorms NXT. Developed system includes location estimation, location and navigation information display and navigation control parts. It used ZigBee based USN which was built with CC2431 chip to locate blind node and implemented fuzzy model to improve ability of calculation of distances from reference nodes and location of mobile robots. This paper proposed combination method of location estimation using USN and encoder which is built in motors of mobile robots. Experimental results showed proposed method is superior to the method which used USN only in location estimation and navigating robots. Developed system can locate current position of mobile robots and monitor information from sensor nodes like temperature, humidity and send control signal to mobile robot to move.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.327-330
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• 2012

In the rapid growth of cities, road has heavy traffic and many buildings are under constructions. These kinds of environments make more difficulty for a person who is visually handicapped to walk comfortable. To alleviate the problem, we introduce Android based Portable Navigation System to help walking for Visually Impaired Person. It follows, service center give instant real time monitoring to visually impaired person for their convenient by this system. Android based Portable Navigation System has GPS, Camera, Audio and WI-FI(wireless fidelity) available. It means that GPS location and Camera image information can be sent to service center by WI-FI network. To be specific, transmitted GPS location information enables service center to figure out the visually impaired person's whereabouts and mark the location on the map. By delivered Camera image information, service center monitors the visually impaired person's view. Also, they can offer live guidance to visually impaired person by equipped Audio with live talking. To sum up, Android based Portable Navigation System is a specialized navigation system that gives practical effect to realize more comfortable walking for visually impaired person.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.1
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• pp.29-34
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• 2022

In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.1
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• pp.135-144
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• 2021

In railway systems, it is common to obtain train location information through an infrastructure-based train detection system. However, this system has a problem that may provide incorrect location information due to non-detection and erroneous detection, which may cause an accident. Therefore, in this study, we propose a method of providing train location information using a sensor-based integrated navigation system. In order to provide accurate information; however, the reliability of the integrated navigation system must be verified. Therefore, in this paper, we develop a simulator that can generate a reference trajectory and sensor data based on the real trajectory and analyze the performance of the integrated navigation system according to various scenarios on the real trajectory.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.23-27
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• 2012

Recently, devices like Personal Privacy Devices (PPD) are being employed to avoid the detection of one's location by GPS, and most PPD transmits swept CW signals. However, signals transmitted from PPD may interfere a precise location system based on GPS. Accordingly, in order to reduce interferences by PPD, a technique to locate an interferer is needed. In order to locate an interferer AOA method and TDOA method are generally used, TDOA method is known to be more accurate than AOA method. Unfortunately, TDOA method has a problem of ambiguity in obtaining measurements of swept CW interference. Thus, this paper design a localization algorithm based on TDOA method that can accurately locate an interferer transmitting swept CW signals by resolving problem of ambiguity. In addition, feasibility of the designed algorithm has been verified by simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.898-902
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• 2015

Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS.