• 해양환경안전학회지
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• 제25권7호
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• pp.841-850
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• 2019

우리나라는 항행교통안전을 위하여 19개 항만과 3개 출입항로에 속력제한구역을 설정하고 제한속력을 지정하고 있으나 항만별로 제한속력이 다르고 실질적 관리수단의 부재로 제한속력 위반 행위가 빈번히 발생하고 있으며 이로 인하여 인적과실에 의한 선박 충돌사고가 지속 발생하고 있다. 본 연구는 첫째, 무역항 및 진입수로에서 발생한 해양사고를 분석하였다. 분석결과로 최근 5년간 1,344건(연평균 269건)이 발생하였고 어선에 의한 사고(563건)가 상선(508건)에 비해 많았으며 특히, 군산항의 어선 선장 50명을 표본으로 설문조사한 결과 45명(90 %)이 제한속력을 알지 못하고 있었다. 둘째, 속력제한 위반 선박에 있는 운항자에게 위험을 알리기 위하여 GPS 플로터 및 전자해도시스템(ECDIS)에 음성경고 기능과 메시지 경고기능 도입을 검토·제안하였다. 셋째, 관련기관과 항법장치 제작업체를 대상으로 전문가의견을 조사한 결과 제안된 경고기능이 기술적으로 가능한 것으로 확인되었다. 본 연구결과는 선박해양플랜트연구소에서 추진 중인 e-NAVIGATION 사업에 반영 가능하며 선박운항자에 대한 인적과실 감소와 한국형 e-NAVIGATION 구축에 도움이 될 것으로 기대된다.

• 한국군사과학기술학회지
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• 제16권2호
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• pp.191-198
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• 2013

Geo-pointing is a function that maintains LOS(Line of Sight) to a stationary ground target by controlling azimuth and elevation angles of a EOS(Electro-Optical System) which are calculated from aircraft navigation data and target coordinates. In design and implementation of the geo-pointing, a transmission time delay between GPS/INS and EOS is a major degradation factor of the geo-pointing performance when the aircraft is rapidly maneuvered especially. In this paper, a kalman filter is designed to compensate the transmission time delay of aircraft navigation data. Simulation and test results show that the geo-pointing performance is enhanced by the proposed compensation technique.

• 한국산업융합학회 논문집
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• 제21권3호
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• pp.125-131
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• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.597-602
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• 1988

In this paper, we consider conventional and modified proportional navigation guidance(PNG) laws for a random maneuvering target. By means of Lyapunov function approach, we show that an ideal missile guided by the conventional PNG law can always intercept a random maneuvering target if some specified initial conditions are satisfied and the navigation constant is chosen sufficiently high. In addition, we propose a modified PNG law. At the final phase of pursuit, the proposed guidance law has a better acceleration profile than the conventional PNG law.

• 한국컴퓨터정보학회논문지
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• 제22권12호
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• pp.17-25
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• 2017

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.1061-1067
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• 2010

In this paper, we propose a simulator for testing of the Navigation Control System(NCS) in Bimodal-tram. NCS uses values of all sorts of sensors installed in vehicle to decide current position, and to control speed and steering of vehicle to go to a next position. Major functions of simulator are input processing of the driver and generation of virtual sensor data and driving profile(navigation path, magnetic information), and the NCS function. Virtual sensor data is generated according to output data from the NCS, driving profile and input processing of the driver, and monitoring systems is operated separatedly to confirm of NCS operation. This paper discusses about the implementation of the simulator, and analyzes and evaluates the simulation results.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.544-547
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• 2008

3차원 가상환경에서 탐색항해는 현실세계에 비해 부족한 정보를 활용하기 때문에 많은 어려움이 있다. 3차원 가상환경에서의 탐색항해 보조도구 개발은 3차원 가상현실에서 중요한 연구주제 이다. 본 연구는 스플라인 곡선을 활용한 탐색항해 패스 설정에 대해연구 하였다. 스플라인 곡선은 다항식 함수이기 때문에 미분가능하다. 특히, 2차 3차 스플라인 곡선은 2번이상 미분가능하기 때문에 컴퓨터그래픽스에서 요구하는 충분히 부드러운 곡선이다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 Asia Navigation Conference
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• pp.11-18
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• 2006

Ship Pilotage is one of the most important parts in the construction and development of Shanghai International Shipping Center as it has the fundamental function for the promotion and speed-up of the ship navigation and cargo operation. Recently, Shanghai Maritime University and Shanghai Harbour Pilotage Administration Station had carried out a research project of 'Study on Ship Safety Pilotage in the Shanghai Harbour by Way of FSA (Formal Safety Assessment)'. The aim of this project is to put out some proposes of the decision-making for the improvement of the safety pilotage in Shanghai habour through the way of the FSA. Now these proposes of the decision-making have been adopted and conducted in practice and satisfactory results have been achieved. In the paper, some detailed information, methods and ideas about this research project have been introduced and explained for improving the safety pilotage in Shanghai Harbour.

• Journal of Positioning, Navigation, and Timing
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• 제8권1호
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• pp.13-18
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• 2019

This paper analyzes the signal acquisition performance of the legacy GNSS spreading codes and a polyphase code. The code length and chip rate of a polyphase code are assumed to be same as those of the GPS L1 C/A and Galileo E1C codes. The autocorrelation and cross correlation characteristics are analyzed. In addition, a way to calculate a more accurate probability of false alarm for a code with sidelobe non-zero auto-correlation function is proposed. Finally, we estimate the probability of detection and the mean acquisition time for a given signal strength and the probability of false alarm.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.51-58
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• 2022

Korea Augmentation Satellite System (KASS) is a Satellite Based Augmentation System (SBAS) system under development in South Korea and aims to provide air navigation services after 2023. In order to provide reliable service, detailed design for the operation of this system is required. This paper proposes a detailed operation-based designs based on mission, architecture, operation definition of the system. For the stable operation of the system, an operation organization was designed and operation activities were classified in consideration of the architecture and function of the system. Detailed operation procedures were designed according to this classification and operation procedures related to the command and configuration of subsystem were verified on the Integration, Verification and Qualification (IVQ) platform for integrated testing and verification. The proposed operation concepts and procedures will be continuously confirmed and verified during verification, qualification and service preparation, and will be updated event after official KASS service.