• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2017.11a
• /
• pp.22-24
• /
• 2017

The Korean e-Navigation operating system is designed to provide various services related to marine safety. These services are not configured to be provided in one software, but are made in separate software. In order to integrate the service software installed in the e-Navigation operating system, it is necessary to define the data message which can exchange data between the service software, Depending on the operating concept of the service, many messages are expected to be transmitted over the network in a short time. There is a need for a buffer or message queue to store messages as a way to manage messages efficiently. Therefore, in this paper, we analyze the types and characteristics of Advanced Message Queuing Protocol(AMQP) suitable for Korean e-Navigation operating system and shows that's result.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2022.06a
• /
• pp.44-45
• /
• 2022

The International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA) has been developing the S-201 Aids to Navigation information standard since 2019 for the purpose of exchanging Aids to Navigation data. In this study, the navigation information managed in Korea was modeled using the IALA S-201 navigation information standard system for the management and service of smart navigation. By using the S-201 Aids to Navigation information standard system, the basis for reflecting the information standard system was prepared in the production, exchange, and collection of domestic navigational data. It also intends to contribute to the establishment of an information exchange system between the Aids to Navigation organization, IALA, and countries.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.2
• /
• pp.131-139
• /
• 2013

In recent years alternative navigation system such as a DBRN (Data-Base Referenced Navigation) system using geophysical information is getting attention in the military navigation systems in advanced countries. Specifically TRN (Terrain Referenced Navigation) algorithm research is important because TRN system is a practical DBRN application in South Korea at present time. This paper presents an integrated navigation algorithm that combines a linear profile-based TRN and INS (Inertial Navigation System). We propose a correlation analysis method between TRN performance and terrain roughness index. Then we propose a conditional position update scheme that utilizes the position output of the conventional linear profile type TRN depending on the terrain roughness index. Performance of the proposed algorithm is verified through Monte Carlo computer simulations using the actual terrain database. The results show that the TRN/INS integrated algorithm, even when the initial INS error is present, overcomes the shortcomings of linear profile-based TRN and improves navigation performance.

• International Journal of Aeronautical and Space Sciences
• /
• v.17 no.1
• /
• pp.80-88
• /
• 2016

For next generation global navigation satellite systems, new carrier frequencies in Ku/V band are expected to emerge as a promising alternative to the current frequency windows in L band as they get severely congestive. In the case of higher frequency bands, signal attenuation phenomenon through the atmosphere is significantly different from the L band signal propagation. In this paper, a fundamental investigation is carried out to explore the Ku/V band as a candidate frequency band for a new global satellite navigation carrier signal, wherein specific attention is given to the effects of the dominant attenuation factors through the tropospheric propagation path. For a specific application, a candidate orbit preliminarily designed for the Korean regional satellite navigation system is adapted. Simulation results summarize that the Ku band can provide a promising satellite navigation implementation considering the present satellite's power budget, while the V band still requires technical advances in satellite transceiver system implementations.

• International journal of advanced smart convergence
• /
• v.9 no.3
• /
• pp.207-214
• /
• 2020

Currently, the operation of unmanned aerial vehicle (UAV) is regulated to be able to fly only within the visible range, but in recent years, the needs for operation in the invisible area, in the urban area and at night have increased. In order to operate UAVs in the invisible area, at night, and in the urban area, a flight path for UAVs must be prepared like those operated by manned aircraft, and for this, it is necessary to establish an unmanned aircraft system traffic management (UTM). In order to establish the UTM, information on the minimum separation distance to prevent collisions with UAVs and buildings is required, and accordingly, information on the navigation performance of UAVs is required. In order to analyze the navigation performance of an UAV, total system error (TSE), which is the difference between the planned flight path and the actual location of the UAV, is required. If the collected data are insufficient and classification according to integrity, independence, and direction is not performed, accurate navigation performance is not derived. In this paper, propose a navigation performance analysis method of UAV that is derived TSE using flight data and modeled with normal distribution, analyze performance.

• Journal of Korea Multimedia Society
• /
• v.18 no.3
• /
• pp.387-400
• /
• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• Journal of Power System Engineering
• /
• v.17 no.5
• /
• pp.112-120
• /
• 2013

In this study, we propose an improved view-based navigation method for obstacle avoidance and evaluate the effectiveness of the method in real environments with real obstacles. The proposed method possesses the ability to estimate the position and rotation of a mobile robot, even if the mobile robot strays from a recording path for the purpose of avoiding obstacles. In order to achieve this, ego-motion estimation was incorporated into the existing view-based navigation system. The ego-motion is calculated from SURF points between a current view and a recorded view using a Kinect sensor. In conventional view-based navigation systems, it is difficult to generate alternate paths to avoid obstacles. The proposed method is anticipated to allow a mobile robot greater flexibility in path planning to avoid humans and objects expected in real environments. Based on experiments performed in an indoor environment using a mobile robot, we evaluated the measurement accuracy of the proposed method, and confirmed its feasibility for robot navigation in museums and shopping mall.

• Journal of Navigation and Port Research
• /
• v.33 no.9
• /
• pp.609-614
• /
• 2009

The traffic of tug/barges which are carrying construction materials, large plants for harbor development, or offshore structures has recently increased in the coast of Korea. The west and south coast of Korea are always congested due to a lot of islands and traffic concentration. Specially tug/barges have higher probability of marine accidents due to their bad maneuverability than others. Considering the operational circumstance and maneuverability, this study was to develop a wide-area monitoring and control system for tug/barges in the coastal area of Korea. The system was made in the form of three program modules i.e. navigation analysis program module, monitoring and control program module, database module. And seven functions were programmed to monitor and control the tug/barges efficiently. These are ship information search, tug/barge information and track management, designated area and safe navigation zone management, fairway management, accident data management, warning of danger, safety information management.

• Journal of Positioning, Navigation, and Timing
• /
• v.12 no.1
• /
• pp.51-58
• /
• 2023

Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.4
• /
• pp.239-247
• /
• 2022

The existing studies on the localization in the GNSS (Global Navigation Satellite System) denied environment usually exploit low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) sensors to replace the GNSS signals. However, the navigation system still requires GNSS signals for the normal environment. This paper presents an integrated GNSS/INS (Inertial Navigation System) navigation system which combines GNSS and multiple IMU sensors using extended Kalman filter in partially GNSS-denied environments. The position and velocity of the INS and GNSS are used as the inputs to the integrated navigation system. The Mahalanobis distance is used for novelty detection to detect the outlier of GNSS measurements. When the abnormality is detected in GNSS signals, GNSS data is excluded from the fusion process. The performance of the proposed method is evaluated using MATLAB/Simulink. The simulation results show that the proposed algorithm can achieve a higher degree of positioning accuracy in the partially GNSS-denied environment.