• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.208-214
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• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.3
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• pp.203-210
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• 2017

Korea has established an advanced infrastructure for real-time precise positioning such as CORS, virtual reference station service and perform continuous upgrading. However, in order to utilize the national infrastructure, it is necessary to process the acquired spatial information and take many steps to derive the final product. In addition, this process is highly dependent on foreign software. In this study, GNSS field survey system was developed and evaluation of its usability was performed. Real-time GNSS field survey system was developed and the system improves user̓s convenience and usability. The system was able to conduct survey effectively and produce the results. In addition, we compare the existing software with the survey performance to show the availability of the real-time GNSS surveying system. The system developed through the research can perform all the functions from real-time survey to the production of the outputs. It can create economical added value of the foreign software as a whole and simplify the work required for post-survey performance.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.3
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• pp.221-235
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• 2024

Errors included in Global Navigation Satellite System (GNSS) measurements degrade the performance of user position estimation but can be mitigated by spatial correlation properties. Augmentation systems providing correction data can be broadly categorized into State Space Representation (SSR) and Observation Space Representation (OSR) methods. The satellite-based cm-level augmentation service based on the SSR broadcasts correction data via satellite signals, unlike the traditional Real-Time Kinematic (RTK) and Network RTK methods, which use OSR. To provide a large amount of correction data via the limited bandwidth of the satellite communication, efficient message structure design considering service area, correction generation, and broadcast intervals is necessary. For systematic message design, it is necessary to analyze the influence of error components included in GNSS measurements. In this study, errors in satellite orbits, satellite clocks for GPS, Galileo, BeiDou, and QZSS satellite constellations ionospheric and tropospheric delays over one year were analyzed, and their spatial decorrelations and linear modeling characteristics were examined.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.413-422
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• 2012

After development of GPS in the 1960's, the United States released SA(Selective Availability) in 2000 and then the GPS has become commercialized to the present. The result of repeatedly developed GPS observation, the GPS real-time observation methods is RTK which basically always needs two base stations and has a fault of the accuracy decreasing as the distance between a mobile station and a receiver is increasing. Because of these weakness, VRS method has come out. VRS(Virtual Reference Station) generates the imaginary point near mobile station from several observatory datum of GPS, sets the accurate location of mobile station, thus shows high reliability and mobility. Now, the cadastral datum point is used with azimuth, repetition, and graphical traversing method for traverse network. The result of measurement indicates many problems because of different accomplishment interval given point, restrictions on the length of the conductor, many errors on the observations. So, this study did comparative analysis of the cadastral datum points through VRS method by Continuously Operating Reference Station. Through the above comparative analysis, The comparative result between surveyed result with repetition method through total station observed Cadastral Control Points and surveyed result with VRS-RTK has shown that average error of x-axis is -0.08m, average error of y-axis, +0.07m and average distance error is +0.11m.

• Journal of Cadastre & Land InformatiX
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• v.48 no.1
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• pp.139-151
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• 2018

The National Base Map construction consists of the regular correction work of dividing the whole country into two regions and carrying out the modification Plotting by aerial photographs every two years as well as the real time updating work of correcting the major change feature within two weeks by the field survey and the As-Built Drawing. In the case of the Building Layout Drawing of Korea Real estate Administration intelligence System(KRAS) used for real time updating work of the National base map, the coordinate transformation error is included in the positional error when applied to the National Base Map based on the World Geodetic Reference System as the coordinate system based on the Regional Geodetic Reference System. In addition, National Base Map is registered based on the outline(eaves line) of the building in the Digital Topographic Map, and the Cadastral and Architecture are registered based on the building center line. Therefore, the Building Object management standard is inconsistent. In order to investigate the improvement method, the network RTK survey was conducted directly on a location of the Building Layout Drawing of Korea Real estate Administration intelligence System(KRAS) and the problems were analyzed by comparing with the plane plotting position reference in National Base Map. In the case of the general structure with the difference on the Building center line and the eaves line, beside the location information was different also the difference in the ratio of the building object was different between Building center line and the eave. In conclusion, it is necessary to provide the Base data of the double layer of the Building center line and the outline of the building(eaves line) in order to utilize the Building Layout Drawing of Korea Real estate Administration intelligence System(KRAS). In addition, it is necessary to study an organic map update process that can acquire the up-to-dateness and the accuracy at the same time.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.4
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• pp.39-44
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• 2012

This paper propose a transmission method for "Transportation system" that can decide precise position under wide area road traffic environment. For precise position detecting, central station collect multiple receiver station's satellite navigation data and generate correction information. In this process, we need efficient real time transmission method for satellite navigation message that has variable data size. We propose real time data transmission method. This real time transmission method offer efficient processing structure for multiple receiver station's satellite navigation message. This paper explains proposed real time transmission method and proofs this transmission method.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.169-171
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• 2010

The goal of this study is to evaluate the performance of different solution types(a GPS-only, a GLONASS-only, and a GNSS solution) on GNSS positioning modes which are point positioning and relative positioning(DGNSS-, Static-, and Kinematic-solutions). I started with GNSS sites of seoul metropolitan government's RTK network which providing combined GPS/GLONASS observations : Gangseo(GANS), Dobong(DBON). The positioning accuracy of different solution types on positining modes are compared. Considering the compared results of all cases, can find not only the difference of the performance between the GNSS solution and the GPS-only solution is very small, but also the GLONASS-only solution is not far from the other solution types taking into consideration that GLONASS system is not (yet) a complete system.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.449-453
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• 2016

하천 구역에 존재하는 인력 및 장비의 접근이 물리적으로 불가능한 공간에 대한 지형정보 취득의 한계를 극복하기 위한 대안으로 소형 UAV(Unmanned Aerial Vehicle)의 활용성을 살펴보고자, 낙동강 달성보와 강정고령보 사이에 위치하는 습지구간에 대한 영상촬영 및 분석을 통한 지형측량을 실시하였다. 홍수터 지형측량에 있어 소형 UAV를 이용한 사진측량의 신뢰성과 정확성을 평가하기 위하여, Network RTK를 이용한 육상측량결과와 정사영상 분석결과를 비교하여 '항공레이저측량 작업규정'의 '수치표고모델 규격 및 정확도'에 제시된 기준에 의거하여 수직위치 정확도를 검토하였다. 검토 결과 과대오차를 배제할 경우 지표면 상태에 따라 1/1,000~1/5,000의 정사영상 및 수치표고모델 제작이 가능함을 확인할 수 있었다.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.11a
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• pp.61-64
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• 2004

현재 GPS를 이용한 위성측위시스템은 기존의 DGPS에 의한 정밀도 향상 차원을 넘어 상시관측소를 활용한 기준국의 활용 증대 및 다양한 동시 사용자의 욕구를 충족시키기 위해 여러 가지 연구들이 진행되고 있다 현재 국내 연구동향으로 VRS-RTK (Virtual Reference Station Real Time Kinematic)에 대한 기초 연구가 진행 중에 있으며 해양수산부의 전파를 이용한 비콘 방식과 표준과학연구원 천문대에서는 MBC와 연계한 FM-DARC(Data Radio Channel)방식 등이 활용 방안으로 준비중에 있으며, 여러 기관과 대학 연구 기관에서 기초 연구가 진행 중에 있다. 따라서 이미 독일, 싱가폴, 일본 등에서 활용하고 있는 VRS의 연구를 보다 심화하여 현재 각기 다른 기관에서 보유하고 있는 70여개의 GPS 상시관측소의 효율적인 활용과 대 국민 서비스를 제공할 수 있는 시스템이 절실히 필요한 시기이다. 따라서 본 논문에서는 이런 가상관측의 결과를 산출할 수 있는 통계학적 모델링을 통한 가상관측 보정값을 산출할 수 있는 보정값을 제시할 수 있는 알고리즘 개발에 그 목적이 있다. 향후 알고리즘 개발이 완료되면 통계학적 모델링을 통해 단일 기준점에 의한 GPS 측량에서 불가능한 위치 결정 네트웍의 가상 관측을 가능하게 할 것이며, 신뢰성 있는 미지정수 해를 만들 수 있을 것이다.

• Ocean Systems Engineering
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• v.14 no.2
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• pp.101-114
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• 2024

Seafloor sediment mapping is an essential research topic in shallow coastal waters, especially in port development, benthic habitat mapping, and underwater communications. The seafloor sediments can be interpreted by collecting sediment samples directly in the field using a grab sampler or corer. Another method is optical, especially using underwater cameras and videos. Both methods each have weaknesses in terms of area coverage (mechanic) and accurate positioning (optic). The latest technology used to overcome it is the acoustic method (echosounder) with Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning. Therefore, in this study will propose the classification of seafloor sediments in coastal waters using acoustic method that is Multibeam Echosounder (MBES) multi-frequency with five frequency (200 kHz, 250 kHz, 300 kHz, 350 kHz, and 400 kHz). In this study, the deep neural network (DNN) used the bathymetric multi frequency, bathymetric difference inters frequencies, and bathymetric features from 5 (five) frequencies as input layer and 4 (four) sediment types in 74 (seventy-four) sample sediment as output layer to make a seafloor sediment map. Results of sediment mapping using the DNN method show an overall accuracy of 71.6% (significant) and a kappa coefficient of 0.59 (moderate). The distribution of seafloor sediment in the study area is mainly silt (41.6%), followed by clayey sand (36.6%), sandy silt (14.2%), and silty sand (7.5%).