• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.167.6-167
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• 2001

The cylindrical environment maps of image-based representation methods make high-quality, simple and low-price real-time navigation possible. In this paper, we propose a method to navigate from one viewpoint to the next in the virtual inside space, composed of several cylindrical environment maps. Our system is classified into the two modules. first of all, the panoramic image viewer that employs the rotation and zoom-in/out methods to navigate the virtual inside space, such as the Quicklime VR. The other is smooth real-time navigation using cubic mesh interpolation when the viewpoint moves from one environment map to another in the virtual space.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.2
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• pp.149-158
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• 2024

Global Navigation Satellite System (GNSS) receivers are becoming increasingly sophisticated, equipped with advanced features and precise specifications, thus demanding efficient and high-performance hardware platforms. This paper presents the design and implementation of a Field-Programmable Gate Array (FPGA)-based GNSS receiver development platform for multi-band signal processing. This platform utilizes a FPGA to provide a flexible and re-configurable hardware environment, enabling real-time signal processing, position determination, and handling of large-scale data. Integrated signal processing of L/S bands enhances the performance and functionality of GNSS receivers. Key components such as the RF frontend, signal processing modules, and power management are designed to ensure optimal signal reception and processing, supporting multiple GNSS. The developed hardware platform enables real-time signal processing and position determination, supporting multiple GNSS systems, thereby contributing to the advancement of GNSS development and research.

• Journal of KIISE:Software and Applications
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• v.37 no.8
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• pp.641-646
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• 2010

This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.

• Journal of Advanced Navigation Technology
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• v.19 no.3
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• pp.199-206
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• 2015

For real-time precise positioning, IGS provides ephemeris predictions (IGS ultra-rapid, IGU) and real-time ephemeris estimates (real-time service, RTS). Due to the RTS data latency, which ranges from 5 s to 30 s, a short-term prediction process is necessary before applying the RTS corrections. In this paper, the real-time performance of the RTS correction and IGU prediction are compared. The RTS correction availability for the GPS satellites observed in Korea is computed as 99.3%. The RTS correction is applied to broadcast ephemeris to verify the accuracy of the RTS correction. The 3D orbit RMS error of the RTS correction is 0.043 m. Prediction of the RTS correction is modeled as a polynomial, and then the predicted value is compared with the IGU prediction value. The RTS orbit prediction accuracy is nearly equivalent to the IGU prediction, but RTS clock prediction performance is 0.13 m better than the IGU prediction.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.409-409
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• 2000

In this paper, the implementation of a tightly coupled real-time GPS/INS integrated system is discussed. The hardware is developed for any GPS receiver and any IMU. The navigation software is modularized by tasks, so that can be easily modified when the integrated system is restructured. A van test was performed to show the feasibility of the proposed system.

• Journal of Advanced Navigation Technology
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• v.12 no.3
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• pp.280-285
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• 2008

The traditional face detection method is to use difference picture method are used to detect movement. However, most do not consider this mathematical approach using real-time or real-time implementation of the algorithm is complicated, not easy. This paper, the first to detect real-time facial image is converted YCbCr and RGB video input. Next, you convert the difference between video images of two adjacent to obtain and then to conduct Glassfire Labeling. Labeling value compared to the threshold behavior Area recognizes and converts video extracts. Actions to convert video to conduct face detection, and detection of facial characteristics required for the extraction and use of AdaBoost algorithm.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.269-277
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• 2022

In this paper, we overview the system development status of the national maritime precise point positioning-real-time kinematic (PPP-RTK) service in Korea, also known as the Precise POsitioning and INTegrity monitoring (POINT) system. The development of the POINT service began in 2020, and the open service is scheduled to start in 2025. The architecture of the POINT system is composed of three provider-side facilities-a reference station, monitoring station, and central control station-and one user-side receiver platform. Here, we propose the detailed functionality of each component considering unidirectional broadcasting of augmentation data. To meet the centimeter-level user positioning accuracy in maritime coverage, new reference stations were installed. Each reference station operates with a dual receiver and dual antenna to reduce the risk of malfunctioning, which can deteriorate the availability of the POINT service. The initial experimental results of a testbed from corrections generated from the testbed network, including newly installed reference stations, are presented. The results show that the horizontal and vertical accuracies satisfy 2.63 cm and 5.77 cm, respectively. For the purpose of (near) real-time broadcasting of POINT correction data, we designed a correction message format including satellite orbit, satellite clock, satellite signal bias, ionospheric delay, tropospheric delay, and coordinate transformation parameters. The (near) real-time experimental setup utilizing (near) real-time processing of testbed network data and the designed message format are proposed for future testing and verification of the system.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.4
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• pp.337-345
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• 2020

In this paper, an efficient signal tracking method to simultaneously track both GPS L1 C/A and Galileo E1B CBOC(6,1,1/11) using a low cost GPU is proposed. In the existing method that each GNSS signal is processed within 1 ms, more than 2 ms processing time is required in GPU to process 4 ms CBOC signal. It means that real time operation is possible if only Galileo E1B CBOC signal is concerned. But when both GPS C/A and Galileo CBOC is required, it cannot process GPS C/A signal in real time. To process 1 ms GPS C/A and 4 ms Galileo CBOC signal in real time, 4 ms Galileo CBOC signal is divided into 4 by 1 ms signal block in the proposed method. Specially, a buffer that simultaneously manages 1 ms and 4 ms signals is designed. In addition, a module that accumulates the 1 ms correlation value of the Galileo CBOC by 4 ms and passes it to the PLL and DLL is implemented. The operation and performance are evaluated with real measurements in the GPU based SDR. The experimental results show that tracking of more than 16 satellites of GPS C/A and Galileo E1B is possible using the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.150-154
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• 2022

The Automatic Ship Identification System(AIS) is importantly used to evaluate the trajectory of ships and the possibility of collision between ships. However, it is difficult to provide real-time information due to the limitation of the transmission intervals. Most of the studies to improve this are conducted based on ideal data, so there is a problem that it is hard to respond to the actual situation. Therefore, in this paper, we propose a discrete Kalman filter-based method that reflects the turning angle according to the type of trajectory, to provide real-time position information on real-time data. In addition, the accuracy evaluation of the proposed algorithm is conducted through experiments using actual data.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.36 no.1
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• pp.15-26
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• 2020

The purpose of this study is to develop every possible real-time evacuation scenarios for large-scale buildings which considering continuously changing conditions during the events. From the review of the previous studies on smartphone-based real-time evacuation systems, this study proposed the customized egress scenarios. The scenario considered the characteristics of facilities, disaster types, and individual factors of evacuees. This study verified the proposed process for real-time evacuation scenarios by applying the several actual fire cases happened recently in Korea. Based on the result of this research, necessary technologies for the real-time evacuation systems are identified and can be applied to develop the more effective evacuation system.