• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.297-304
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• 2022

The models used for ionosphere error correction in positioning using Global Navigation Satellite System (GNSS) are representatively Klobuchar model and NeQuick model. Although these models can correct the ionosphere error in real time, the disadvantage is that the accuracy is only 50-60%. In this study, a method for polynomial modeling of Global Ionosphere Map (GIM) which provides Vertical Total Electron Content (VTEC) in grid type was studied. In consideration of Ionosphere Pierce Points (IPP) of satellites with a receivable elevation angle of 15 degrees or higher on the Korean Peninsula, the target area for model generation and provision was selected, and the VTEC at 88 GIM grid points was modeled as a polynomial. The developed VTEC polynomial model shows a data reduction rate of 72.7% compared to GIM regardless of the number of visible satellites, and a data reduction rate of more than 90% compared to the Slant Total Electron Content (STEC) polynomial model when there are more than 10 visible satellites. This VTEC polynomial model has a maximum absolute error of 2.4 Total Electron Content Unit (TECU) and a maximum relative error of 9.9% with the actual GIM. Therefore, it is expected that the amount of data can be drastically reduced by providing the predicted GIM or real-time grid type VTEC model as the parameters of the polynomial model.

• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.89.6-89
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• 2001

In Vehicle Information and Communication System (VICS), which is an active field of Intelligent Transport System (ITS), information of traffic congestion is sent to each vehicle at real time. However, a centralized navigation system is not realistic to guide millions of vehicles in a megalopolis. Autonomous distributed systems should be more flexible and scalable, and also have a chance to focus on each vehicle´s demand. This paper proposes a sub-optimal route planning mechanism of vehicles in urban areas using the non-network type immune system. Simulation is carried out using a cellular automaton model. This system announces a sub-optimal route to drivers in real time using VICS.

• Journal of Navigation and Port Research
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• v.46 no.5
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• pp.419-426
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• 2022

This study aimed to identify new routes for transporting automobiles from Korea to Mongolia by comparing them with the existing route. At present, a route from the Incheon Port through the Tianjin Port to Zamiin-Uud is commonly used to transport containerized cargo from Korea to Mongolia. This study examined five possible logistics routes from Korea to Mongolia using a time/cost-distance methodology based on real data. Through consecutive discussions with importers and freight forwarders in Mongolia, the potential routes were selected and costs, distance, and lead time were evaluated to provide additional route options for automobile logistics from Korea to Mongolia. The results indicated that each route could be ranked in terms of the total cost while the lead time for all options in the present COVID-19 period is 2 - 4 months, with no difference among the routes. In addition, although the confidence index of all routes was not impressive, route 3 was the most preferred option, followed by route 1. However, the study results cannot provide the answer to the question of "which route is more attractive for transporting automobiles from Korea to Mongolia." This limitation notwithstanding, this study provides real information on the critical factors of distance, cost, and lead time in terms of the selected transportation routes so that importers and exporters can compare the routes in terms of the priority of each factor in uncertain logistics environment.

• Journal of Navigation and Port Research
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• v.42 no.1
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• pp.17-24
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• 2018

The Russian Global Navigation Satellite System (GLONASS) has been fully recovered since October 2011, and it has been significantly modernized. The recently launched GLONASS 752 was set for successful performance on October 16, 2017 and has resulted in 24-satellite constellation with 22 second-generation (GLONASS-M) satellites, and a third-generation (GLONASS-K) satellite. Therefore, this paper is focused on not only the identified navigation parameters, but also the performance analysis of the project based on its real data received from the studied satellites. It is verified that the 5-11 satellites are available for receiving navigation signal at this time. The obtained values of GDOP, PDOP, HDOP, VDOP, and TDOP are 2.790, 2.424, 1.169, 2.123, and 1.381, noted respectively in standard deviation. In fact, the level of positioning precision is about 1.4m in standard deviation. As a result, the positioning performances of the measured GLONASS and GPS are virtually identical. Therefore, we determine that the GLONASS is expected to be expanded for future applications.

• Journal of Navigation and Port Research
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• v.33 no.7
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• pp.463-467
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• 2009

In near future, more congested and dangerous marine traffic environment due to the rapid marine traffics increase and ship handling difficulty by enlargement of ship size is predicted. In this paper, an navigation supporting system proposal made to enhance the safe navigation by providing the collision avoidance informations to the navigator via marine traffic environment assessment. Proposed navigation supporting system displays results of marine traffic environment assessment, degree of the dangers and gives reason of danger which is enhance situational awareness of navigator. For this purpose, results of marine traffic environment assessment which is obtained via real time assessment sent to the designated server and through the connection with navigation supporting system navigator being enable to see all those informations on the computer screen Navigator would utilize those information to make a decision in the difficult waterways and thus safe navigation could be enhanced.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.8
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• pp.549-557
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• 2019

In this paper, we focus on the real-time detection method of a seismic ionospheric disturbance using Global Navigation Satellite System (GNSS) signal. First, the monitor for the detection of the seismic ionospheric disturbance is studied based on the estimated ionospheric delay using the GNSS signals. And then, the threshold for the automatic detection is computed. Moreover, to discriminate the seismic ionospheric disturbance against the other ionospheric anomalies due to other error sources such as cycle slips, the signatures of the ionospheric perturbation caused by the seismic wave is investigated. Based on the observation, the detection strategy is proposed. Using GPS observations collected from the 47 permanent stations in South Korea and Japan, the proposed real-time detection method is evaluated.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.3
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• pp.191-198
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• 2022

In order to increase the practical use and navigational application performance of the Korean Positioning System (KPS), it is required to provide interoperability with other Global Navigation Satellite System (GNSS). This kind of interoperability can be obtained by broadcasting the time offset between KPS and GNSS using a KPS navigation message. With the assumption that KPS Time (KPST) will be generated by the similar method and equipment of UTC(KRIS), the overall behavior of KPST will be close to that of UTC(KRIS). Therefore, the time offset between KPST and GPS Time (GPST) is estimated by using UTC(KRIS) instead of KPST because KPST can not available at the present time. In this paper, we describe the estimation results of the KPS to GPS Time Offset (KGTO) obtained by using a GNSS time transfer receiver which reference inputs are fed from UTC(KRIS). The estimated KGTO performance is compared to the time offset between UTC(KRIS) and UTC(USNO) which is used to generate GPST and considered as the real GPST. The time offset between UTC(KRIS) and UTC(USNO) is obtained by using the Bureau International des Poids et Mesures (BIPM) Circular T report. From the results, it is observed that KGTO can be estimated under 10 ns with the assumption that KPST will be generated by a similar method of UTC(KRIS) generation.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.3
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• pp.173-182
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• 2015

A real-time, Indoor navigation systems utilize ultra-wide band (UWB), radio-frequency identification (RFID) and received signal strength (RSS) techniques that encompass WiFi, FM, mobile communications, and other similar technologies. These systems typically require surplus infrastructure for their implementation, which results in significantly increased costs and complexity. Therefore, as a solution to reduce the level of cost and complexity, an inertial measurement unit (IMU) and quick response (QR) codes are utilized in this paper to facilitate navigation with the assistance of a smartphone. The QR code helps to compensate for errors caused by the pedestrian dead reckoning (PDR) algorithm, thereby providing more accurate localization. The proposed algorithm having IMU in conjunction with QR code shows an accuracy of 0.64 m which is higher than existing indoor navigation techniques.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.1
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• pp.9-15
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• 2017

In this paper, results of a jammer detection and localization system operation are given. The system consists of receiver stations, a central tracking station, and a monitoring station and it was developed by our institute in 2014. Through real-time tests, it is confirmed that the developed system has an ability to estimate the location of interference sources with an accuracy of 50 m (CEP) even they was 10 km away. After verification, this system was installed in Incheon International Airport and operating results are being monitored by the airport and our institute continuously. In this year, there were some events that jamming signals were received from North Korea, so the data were analyzed and given here.