• 센서학회지
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• 제16권4호
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• pp.294-300
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• 2007

Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.291-296
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• 2006

The restrictions concerning the use of the radio waves have become severe, the marine radar with low spurious is being developed. Therefore, it is necessary to develop aids to navigation as a radar beacon can respond to new type of marine radar. Because the system of radar in the future is an indetermination, new radar beacon should correspond to old and new radar system during a transition period. New radar beacon that is also able to respond to pulse radar, pulse compression radar and FM-CW radar were considered in these years in Japan. The sign of the response of Morse code in a new system is generated by the delay synthesis system. Computer simulation and actual examination using trial circuit were curried out. A big possibility was set up in the development of the new radar beacon that was able to correspond to old and new radar system. These results and the state of new radar beacon is mentioned in this paper.

• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.359-370
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• 2023

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.

• 한국항해학회지
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• 제20권1호
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• pp.11-26
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• 1996

On this paper, the traditional methods for the measurement of ship's maneuverabilities during the sea-trial of newly built ship are summarized and new methods for the same measurement using Integrated Navigation System and GPS are introduced. After various sea-trials of training ship "HANNARA" which are equipped with modern INS and GPS system, the results are compared and analysed. The purpose of this paper is to present more accurate methods of measurement of ship's maneuverabilities during sea-trial using INS and GPS which are gradually becoming the basic navigational equipments on many newly constructed vessels.d vessels.

• 대한전기학회논문지
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• 제38권12호
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• pp.963-970
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• 1989

The navigation problem for a mobile robot is investigated. Specifically, it is proposed that simple guide-marks be introduced and the navigation scheme be generated in conjunction with the guide-marks sensed through camera vision. For autonomous navigation, it was shown that a triple guide-mark system is more effective than a single guide-mark in estimating the position and orientation of mobile robot itself. The navigation system is tested via a mobile robot HERO-I equipped with a single camera in laboratory environment.

• 한국항해학회지
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• 제22권2호
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• pp.81-87
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• 1998

On this paper, the methods of optimization research of the fishing navigation using the graph theory are substantiated on the basis of the proposed probable model of the fishing vessel navigator's activity. The graph theory is concered about the transitionform the top graph to the rib one. And the definition of the additional system elements (quasi elements) necessary to provide the effectiveness during the fishing navigation are also substantiated herein. This approach helps to optimize the structure of any fishing vessel monitoring system.

• 수산해양기술연구
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• 제20권2호
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• pp.105-111
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• 1984

추측항법과 Loran C 항법을 결합한 Hybrid 항법의 정도를 평가하기 위하여, 군산수산전문대학 실습선 전북 401, 403 호에 설치되어 있는 Hybrid항법장치를 이용하여 1982년 7월부터 1983년 6월 사이에 한국서해안 해역에서 실선관측을 행하여 그 측위의 정도를 Radar 위치와 비교.검토한 결과는 다음과 같다. 1. 9970, 5970 Chain의 Loran C 시간차의 표준편차는 각각 약 0.21$\mu$s, 약 0.06$\mu$s로 5970 Chain의 시간차 변동이 9970 Chain보다 적었다. 2. Hybrid위치와 Loran C 위치는 Radar 위치와의 편위거리가 각각 약 0.4 mile, 약 0.51 mile로서 Hybrid 항법이 Loran C 항법보다 정도가 더 높았다. 3. Hybrid 위치와 Loran C의 계산기 simulation 위치는 Radar 위치와의 위치거리가 각각 0.4 mille, dir 0.98 mile로 Hybrid 항법이 Loran C의 계산기 simulation 위치보다 정도가 더 높았으며, 추측위치의 미소한 변동에 대한 Loran C의 변위량을 보정하면 Loran C의 계산기 simulation 위치의 정도도 더 높일 수 있음을 알 수 있었다.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2004년도 춘계학술발표회논문집
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• pp.103-106
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• 2004

Nowadays it is necessary to manage the road system effectively because of the explosive increment of vehicle and goods. To resolve this problems through the fast upgrade of information about position and time of moving vehicle, the combined navigation system using GPS and complementary navigation system, i.e. INS, DR, etc. has been used. Although GPS is popular for the vehicle navigation system, this is not useful for the kinematic positioning of the vehicles in the urban canyon because of its few satellites. Therefore, this study deals with the kinematic positioning of the vehicles with GPS CORS to GPS navigation. For this, first the static single point positioning of GPS and GPS for reference station was performed to evaluate the accuracy of GPS positioning. Next, in the post-processed, the DGPS (Differential GPS) was performed for the kinematic positioning of the vehicles. So, it is expected that GPS CORS can be applicable to the control of traffic flow, the effective management of road system, and the development of ITS and it is regarded that the combined navigation system of vehicles with GPS, INS, and DR, etc. should be studied constantly.

• 한국CDE학회논문집
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• 제18권4호
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• pp.290-298
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• 2013

A walking navigation system (usually known as a locomotion interface) is an interactive platform which gives simulated walking sensation to users using sensed bipedal motion signals. This enables us to perform navigation tasks using only bipedal movement. Especially, it is useful for the certain VR task which emphasizes on physical human movement, or accompanies understanding of the size and complexity of building structures. In this work, we described system components of VR walking system and investigated several types of walking platform by literature survey. We adopted a MS Kinect depth sensor for the motion recognition and a treadmill which includes directional turning mechanism for the walking platform. Through the integration of these components with a VR navigation scenario, we developed a simple VR walking navigation system. Finally several technical issues were found during development process, and further research directions were suggested for the system improvement.

• Advances in aircraft and spacecraft science
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• 제4권1호
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• pp.53-64
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• 2017

Aerospace Launch Vehicles (ALV) are generally designed with high reliability to operate in complete security through fault avoidance practices. However, in spite of such precaution, fault occurring is inevitable. Hence, there is a requirement for on-board fault recovery without significant degradation in the ALV performance. The present study develops an advanced fault recovery strategy to improve the reliability of an Aerospace Launch Vehicle (ALV) navigation system. The proposed strategy contains fault detection features and can reconfigure the system against common faults in the ALV navigation system. For this purpose, fault recovery system is constructed to detect and reconfigure normal navigation faults based on the sliding mode observer (SMO) theory. In the face of pitch channel sensor failure, the original gyro faults are reconstructed using SMO theory and by correcting the faulty measurement, the pitch-rate gyroscope output is constructed to provide fault tolerant navigation solution. The novel aspect of the paper is employing SMO as an online tuning of analytical fault recovery solution against unforeseen variations due to its hardware/software property. In this regard, a nonlinear model of the ALV is simulated using specific navigation failures and the results verified the feasibility of the proposed system. Simulation results and sensitivity analysis show that the proposed techniques can produce more effective estimation results than those of the previous techniques, against sensor failures.