• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.75-81
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• 2023

In this study, we design an optimized Graphics Processing Unit (GPU)-based GNSS signal processing technique with the goal of designing and implementing a GNSS Software Defined Receiver (SDR) that can operate in real time all-in-view mode under multi-constellation and multi-frequency signal environment. In the proposed structure the correlators of the existing GNSS SDR are processed by the GPU. We designed a memory structure and processing method that can minimize memory access bottlenecks and optimize the GPU memory resource distribution. The designed GNSS SDR can select and operate only the desired GNSS or desired satellite signals by user input. Also, parameters such as the number of quantization bits, sampling rate, and number of signal tracking arms can be selected. The computing capability of the designed GPU-based GNSS SDR was evaluated and it was confirmed that up to 2400 channels can be processed in real time. As a result, the GPU-based GNSS SDR has sufficient performance to operate in real-time all-in-view mode. In future studies, it will be used for more diverse GNSS signal processing and will be applied to multipath effect analysis using more tracking arms.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2022년도 추계학술대회
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• pp.321-322
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• 2022

본 연구에서는 속초해수욕장 행정복지센터 옥상, 울릉도에 설치된 X-band 레이더를 통해 실시간으로 해양환경을 계측, 해석한다. 이후 해석결과를 Client PC로 전송하는 것을 목표로 한다. 계측결과를 전자지도, 전자해도를 활용하여, GIS(공간정보시스템)에 오버레이하고, 웹사이트를 통해 실시간 자료를 공유하고 웹서버를 통해 정보를 표출한다. 현재 웹사이트 상에는 CCTV정보 및 해양환경정보가 표출되지만, 향후 Open API활용 등 다양한 응용연구를 수행할 예정이다.

• Journal of Positioning, Navigation, and Timing
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• 제13권1호
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• pp.103-110
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• 2024

In this paper, a test bed for real-time network Real-Time Kinematic (RTK) research was constructed using reference stations of the NGII. A group of candidate station networks was derived, including three stations in Seoul. The group consisted of four stations with a distance of less than 100 km between them. Among several candidates, a network composed of stations with short distances between them and demonstrating good data quality for all reference stations was selected as the test bed. After collecting real-time data in Radio Technical Committee for Maritime services (RTCM) format from the selected stations and conducting a noise analysis on measurements, mm-level carrier phase measurement noise was confirmed. Afterwards, the user set the reference station inside the test bed and analyzed the network RTK positioning performance of the MAC method using the GPS L1 frequency as post-processing. From the result of the analysis it was confirmed that the residual error for all users was within 10 cm after applying the correction. Additionally, after determining integer ambiguities through Least-squares AMBiguity Decorrelation Adjustment (LAMBDA), it was confirmed that the fix rate was 100%, and all ambiguities were resolved as true values.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.502-510
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• 2008

UAVs(Unmanned Aerial Vehicles) have many applications in military and commercial areas. The flight control system of UAVs is more important than manned aircraft's because the mission of UAVs must be operated without a human pilot. But very heavy and expensive navigation system makes it difficult to develop UAV flight control system. In this research, GPS/IMU integrated navigation filter was developed for light weight/low cost flight control system of small UAVs. With this navigation filter, full flight control system which has real time operating capability has been developed. The performance of the flight control system is basically checked by HILSIM (Hardware In the Loop SIMulation). Finally, the flight control system is verified by showing performance test result under real flight environment.

• 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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권9호
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• pp.4606-4623
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• 2019

Nowadays modern cities develop in a very rapid speed. Buildings become larger than ever and the interior structures of the buildings are even more complex. This drives a high demand for precise and accurate indoor navigation systems. Although the existing commercially available 2D indoor navigation system can help users quickly find the best path to their destination, it does not intuitively guide users to their destination. In contrast, an indoor navigation system combined with augmented reality technology can efficiently guide the user to the destination in real time. Such practical applications still have various problems like position accuracy, position drift, and calculation delay, which causes errors in the navigation route and result in navigation failure. During the navigation process, the large computation load and frequent correction of the displayed paths can be a huge burden for the terminal device. Therefore, the navigation algorithm and navigation logic need to be improved in the practical applications. This paper proposes an improved navigation algorithm and navigation logic to solve the problems, creating a more accurate and effective augmented reality indoor navigation system.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.573-575
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• 2007

Current accuracy of GPS is within the meter level, which is sufficient for route guidance of car navigation system(CNS). But receiving condition of GPS signal varies time to time according to surrounding objects such as building, trees, and terrain. For this reason, the performance of the route guidance is degraded in urban region. In this paper, to improve the performance of the route guidance of CNS, we propose a method for determining location of vehicle using a location of the traffic signal and its pixel size extracted from real-time Image.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.115-120
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• 2006

This article propose a new idea of developing a hybrid scheme to achieve faster INS alignment with higher accuracy using a novel procedure to estimate the initial attitude angles that combines a Kalman filter and Adaptive Neuro-Fuzzy Inference System architecture. A tactical grade inertial measurement unit was applied to verify the performance of proposed scheme in this study. The preliminary results indicated the outstanding improvements in both time consumption for fine alignment process and accuracy of estimated attitude angles, especially in heading angles. In general, the improvement in terms of time consumption and the accuracy of estimated attitude estimated accuracy reached 80% and 70% respectively during alignment process after compensating the attitude angles estimated by an extended Kalman filter with 15 states using proposed approach. It is worth mentioned that the proposed approach can be implemented in general real time navigation applications.

• 한국항해항만학회지
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• 제31권8호
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• pp.645-652
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• 2007

이 논문에서는 현재 선박의 운항 기능을 보다 향상시키는 방법의 하나로서 경제적이고 효율적인 "선박종합정보시스템"을 개발하였다. 이것은 선박의 운항 정보 및 주변 상황을 한 눈에 정확히 파악할 수 있도록 데이터를 종합적이고 체계적으로 선내 통신망을 기반으로 통합하고, 선내 뿐 만아니라 위성데이터통신을 이용하여 원격으로 육상에서 실시간으로 다중의 사용자가 동시에 이를 감시, 기록, 분석을 통하여 선박운항을 지원할 수 있는 시스템이다. 선박종합정보시스템은 선박신호연동장치를 통해 수신된 항해/기관/경보 데이터를 선박종합통신망에 적절하게 전송하는 데이터 분배 프로그램, 항해/기관 데이터를 저장하고 관리하는 데이터베이스, 항해/기관/경보 데이터를 표시하여 선박의 운항 상황 및 주변 상황을 감시하는 각종 정보프로그램, 선박이 건조되어 폐선될 때까지의 관리에 관한 선박관리프로그램, 기타 응용 프로그램으로 구성되어 있다.

• 한국컴퓨터정보학회논문지
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• 제12권4호
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• pp.53-59
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• 2007

저 사양 HMD(Head Mounted Display)를 사용하는 가상 환경 네비게이션 시스템은 true-color 이미지를 제한 된 색으로 표현 할 때 이미지를 양자화 해야 한다. 그러한 시스템은 고정된 팔래트를 이용하여 이미지를 양자화 한다. 인간의 눈은 시선부분의 색변화에 민감하기 때문에 시선부분의 색을 고려하여 동적으로 팔래트를 생성하고 이를 이용하여 이미지를 양자화 한다면 사용자는 가상 환경을 보다 생동감 있게 느낄 수 있다. 본 논문에서는 사용자가 가상환경을 보다 생동감 있게 느끼게 하기 위한 컬러 양자화 방법을 제안하고 제안 방법을 이용하여 가상환경 네비게이션 시스템을 구성하였다. 네비게이션 시스템은 사용자의 시선이 변할 때 마다 이미지를 양자화 하여 HMD를 통해 사용자에게 양자화된 이미지를 보여준다. 본 논문에서는 제안 방법을 이용한 시스템의 선호도를 조사 하였으며 대부분의 사용자가 제안 방법을 이용한 시스템을 선호 하였다.