• 한국항행학회논문지
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• 제20권4호
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• pp.305-313
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• 2016

ICAO (International Civil Aviation Organization)는 GNSS (global navigation satellite system)를 이용하는 PBN (performance based navigation) 도입을 권고하였다. 우리나라도 PBN 로드맵을 수립하여 항공분야에서 GNSS를 이용할 수 있는 환경을 갖추려 시도하고 있으며, 2014년 10월 한국형 SBAS (satellite-based augmentation system) 개발을 위해 KASS (Korea augmentation satellite system) 사업을 본격적으로 착수하였다. 항공기가 GNSS를 이용하기 위해서는 수신기와 같은 항법장비를 탑재해야 한다. GNSS 항법장비는 항로, 이륙 도착, 접근 등 비행 단계에서 사용되기 때문에 장비의 규격은 다양하고 각각 별도로 그 기능과 성능을 규정하고 있다. 이 논문에서는 현재까지 제정된 항공용 GNSS 장비 표준안과 규정된 항법장비 및 인터페이스 규격에 대해 분석하여 정리하였다. KASS 개발 구축 시 비행시험 및 비행절차 개발 등 항공용 GNSS 탑재장비 등이 요구되는 곳에 활용성이 있을 것으로 기대한다.

• 한국위성정보통신학회논문지
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• 제3권2호
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• pp.32-37
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• 2008

Global Navigation Satellite System (GNSS) is been developing in many countries. The satellite navigation system has the importance in economic and military fields. For utilizing satellite navigation system properly, the technology of GNSS Ground Station is needed. GNSS Ground Station monitors the signal of navigation satellite and analyzes navigation solution. This study deals with the navigation software for GNSS Ground Station. This paper will introduce the navigation solution algorithm for GNSS Ground Station. The navigation solution can be calculated by the code-carrier smoothing method, the Kalman-filter method, the least-square method, and the weight least square method. The performance of each navigation algorithm in this paper is presented.

• Journal of Positioning, Navigation, and Timing
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• 제12권3호
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• pp.289-294
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• 2023

As technologies such as cameras, Laser Imaging, Detection, and Ranging (LiDAR), and Global Navigation Satellite Systems (GNSS) become more sophisticated and common, their use in autonomous driving technologies is being explored in various fields. In the maritime area, technologies related to collision avoidance between ships are being developed to evaluate and avoid the risk of collision between ships by setting various scenarios. However, the position of each vessel used in the process of developing collision avoidance technology between vessels uses data obtained through GNSS, and may include a position error of 10 m or more depending on the situation. In this paper, a study on the dynamic safety navigation range including the positional inaccuracy of the ship is conducted. By combining the concept of the protection level obtained using GNSS raw data with a conventional safe navigation range, a safer navigation range can be calculated for dynamic navigation. The calculated range is verified using data obtained while sailing in an actual sea environment.

• 한국생산제조학회지
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• 제24권6호
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• pp.696-702
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• 2015

This paper suggests a new method for making a navigation path by using Bezier curve in order to improve the navigation performance used to avoid obstacles during a robot soccer game. We analyzed the advantages and disadvantages of both vector-field and limit-cycle navigation methods, which are the mostly widely used navigation methods for avoiding obstacles. To improve the disadvantages of these methods, we propose a new design technique for generating a more proper path using Bezier curve and describe its advantages. Using computer simulations and experiments, we compare the performance of vector-field navigation with that of Bezier curve navigation. The results prove that the navigation performance using Bezier curve is relatively superior to the other method.

• Journal of Mechanical Science and Technology
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• 제19권8호
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• pp.1529-1543
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• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• 해양환경안전학회지
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• 제27권1호
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• pp.1-12
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• 2021

IMO에서는 선박운항기술에 ICT기술을 융합하여 해양사고를 예방하는 e-Navigation의 도입을 추진하고 있다. 국내에서도 해양사고의 취약계층인 어선 및 연안을 항해하는 소형선박을 대상으로 한국형 e-Navigation을 개발하고 있다. 그러나 한국형 e-Navigation의 성공적인 개발을 위해서는 현재까지 진행된 개발성과를 평가하고 개발 방향성을 재정립할 수 있도록 개발성과를 평가할 수 있는 지표의 개발이 필요하다. 따라서 본 연구에서는 주요한 해양사고인 충돌사고를 중심으로 e-Navigation 서비스의 개발목표에 맞춘 평가지표를 개발하고자 하였다. 본 연구에서는 RCA기법과 FTA 기법을 활용해 해상 충돌사고 발생 근본원인을 도출하고 이를 정량화하여 e-Navigation 서비스를 위한 충돌사고 평가지표를 개발하였다. 해당지표는 e-Navigation의 개발지표 및 충돌사고 분석을 위한 지표로 활용되어 해양사고 저감에 도움이 될 것으로 사료된다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.491-494
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• 2006

Kalman filtering (KF) is hard to be applied to the SINS (Strap-down Inertial Navigation System)/RDSS (Radio Determination Satellite Service) integrated navigation system directly because the time delay of RDSS positioning in active mode is random. BP (Back-Propagation) Neuron computing as a powerful technology of Artificial Neural Network (ANN), is appropriate to solve nonlinear problems such as the random time delay of RDSS without prior knowledge about the mathematical process involved. The new algorithm betakes a BP neural network (BPNN) and velocity feedback to aid KF in order to overcome the time delay of RDSS positioning. Once the BP neural network was trained and converged, the new approach will work well for SINS/RDSS integrated navigation. Dynamic vehicle experiments were performed to evaluate the performance of the system. The experiment results demonstrate that the horizontal positioning accuracy of the new approach is 40.62 m (1 ${\sigma}$), which is better than velocity-feedback-based KF. The experimental results also show that the horizontal positioning error of the navigation system is almost linear to the positioning interval of RDSS within 5 minutes. The approach and its anti-jamming analysis will be helpful to the applications of SINS/RDSS integrated systems.

• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.181-194
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• 2017

In recent years, research has been actively conducted on the navigation in an indoor environment where Global Navigation Satellite System signals are unavailable. Among them, a study performed indoor navigation by integrating pseudolite carrier and Inertial Measurement Unit (IMU) sensor. However, in this case, there was no solution for the cycle slip occurring in the carrier. In another study, cycle slip detection and compensation were performed by integrating Global Positioning System (GPS) and IMU in an outdoor environment. However, in an indoor environment, cycle slip occurs more easily and frequently, and thus the occurrence of half cycle slip also increases. Accordingly, cycle slip detection based on 1 cycle unit has limitations. Therefore, in the present study, the aforementioned problems were resolved by performing indoor navigation through the integration of pseudolite and ultra-low-cost IMU embedded in a smartphone and by performing half cycle slip detection and compensation based on this. In addition, it was verified through the actual implementation of real-time navigation.

• Journal of Positioning, Navigation, and Timing
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• 제13권1호
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• pp.45-52
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• 2024

As part of the Global Positioning System (GPS) modernization program in the United States, Civil Navigation (CNAV) and CNAV-2 messages were developed to introduce flexibility and modern features to the Legacy Navigation (LNAV) message. This paper explores the additional parameters introduced in CNAV/CNAV-2 compared to LNAV, focusing on their roles from the user's perspective. This paper compares the structural and parameter differences among LNAV, CNAV, and CNAV-2. Additionally, we analyze the types and roles of parameters newly incorporated into CNAV/CNAV-2 that were absent in LNAV.