• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.427-433
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• 2022

Obstacle detection, collision recognition, and avoidance technologies are required the collision avoidance technology for UAVs. In this paper, considering collinear multiple static obstacle, we propose an obstacle detection algorithm using LiDAR and a collision recognition and avoidance algorithm based on CPA. Preprocessing is performed to remove the ground from the LiDAR measurement data before obstacle detection. And we detect and classify obstacles in the preprocessed data using the K-means clustering algorithm. Also, we estimate the absolute positions of detected obstacles using relative navigation and correct the estimated positions using a low-pass filter. For collision avoidance with the detected multiple static obstacle, we use a collision recognition and avoidance algorithm based on CPA. Information of obstacles to be avoided is updated using distance between each obstacle, and collision recognition and avoidance are performed through the updated obstacles information. Finally, through obstacle location estimation, collision recognition, and collision avoidance result analysis in the Gazebo simulation environment, we verified that collision avoidance is performed successfully.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.5
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• pp.200-209
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• 2018

This study proposed a method to select existing facilities as a landmark in order to reset accumulated errors of dead reckoning in a tunnel difficult to receive GNSS signals in automated driving. First, related standards and regulations were reviewed in order to survey 'variety' on shapes and installation locations as a feature of facilities. Second, 'recognition' on facilities was examined using image and Lidar sensors. Last, 'regularity' in terms of installation locations and intervals was surveyed through related references. The results of this study selected a fire fighting box / lamp (50m), an evacuation corridor lamp (300m), a lane control system (500m), a maximum / minimum speed limit sign and a jet fan as a candidate landmark to reset positioning errors. Based on those facilities, it was determined that error correction was possible. The results of this study are expected to be used in repositioning of automated driving vehicles in a tunnel.

• Journal of Advanced Navigation Technology
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• v.17 no.4
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• pp.404-412
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• 2013

Network RTK is widely used especially for static applications so far, however, the demand for high accuracy positioning for kinetic users such as land vehicles is growing for safety and convenience reasons. Kinematic users move along the roads and the network where they receive corrections can be changed. Compact Network RTK corrections should keep consistency while network change. In this paper, we introduced a method of generating Compact Network RTK corrections considering network ambiguity level adjustment by formulation of corrections. We verified the proposed method for reference station networks across whole country. We also generated Compact Network RTK corrections using simulation and real GPS data from reference stations in South Korea and evaluated performance of users. As a result, the discontinuity between corrections from two networks reduced to 0.25 cycle from several cycles. And user could achieve less than 8 cm (2DRMS) horizontal position accuracy continuously regardless of network change.

• Journal of Advanced Navigation Technology
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• v.24 no.2
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• pp.85-91
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• 2020

Recently, a multi-mode radar system was designed for efficient operation of unmanned aerial vehicles (UAVs) in various environments, which has the advantage of being able to integrate and utilize methods of the pulse Doppler (PD) radar and the frequency modulated continuous wave (FMCW) radar. For the range detection part of the multi-mode radar signal processor (RSP), the hardware structure using the FFT processor and the IFFT processor is required to be designed in a way that improves efficiency on the area side. In addition, given the radar application environment that requires a variety of distance resolutions, FFT processors need to support variable-length operations. In this paper, the FFT processor and IFFT processor in multi-mode RSP range estimation are designed and proposed as hardware for a single FFT processor that supports variable length operation of 16-1024 points. The proposed FFT processor designed in hardware description language (HDL) and can be implemented with 7,452 logic elements and 5,116 registers.

• Journal of Navigation and Port Research
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• v.43 no.6
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• pp.413-419
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• 2019

Traffic routes typically have heavy traffic. Especially, the entrance of the route has a high risk of accidents occurring because of ships entering and exiting the port. However, almost of studies have focused on the distribution of traffic on the route. Thus, studies on the distribution between ships for passing through the route are insufficient. The purpose of this study was to analysis the traffic in the Busan north port No.1 route for one week. Based on present traffic conditions, one gate line was settled on the route with an analysis of traffic conditions. Based on the analysis data, each optimal time probability distribution between ships was divided into inbound/outbound and traffic volume. An analysis of the optimal probability distribution, was applied to 31 probability distributions divided into bounded, unbounded, non-negative, and advanced probability distribution. The KS test was applied for identifying three major optimal time probability distributions. According to the KS test results, the Wakeby distribution is the best optimal time probability distribution on the designated route. Although the optimal time probability distribution for other transportation studies such as on vehicles on highways is a non-negative probability distribution, this distribution is an advanced probability distribution. Thus, the application of major probability distribution for using other transportation studies is not applicable to this study Additionally, the distance between ships in actual traffic surveys and the distance estimated by the optimal probability distribution were compared. As a result of the comparison, those distances were fairly similar. However, this study was conducted in only one major port. Thus, it is necessary to investigate the time between ships and calculate a traffic volume on varying routes in future studies.

• Journal of Advanced Navigation Technology
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• v.24 no.4
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• pp.245-250
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• 2020

Currently, unmanned military vehicles under development in Korea have more devices to carry out various missions, and interface cables between them are also increasing. In addition, due to a small space problem inside the unmanned vehicle, devices are required to be miniaturized and integrated. For two reasons, connectors also need to be selected, which makes them vulnerable to noise due to the closer distance between the pins. In this paper, we analyzed how much the magnetic field produced by noise at the connector pin where cable twist is released affects the surrounding pin and presented the guide for optimal pin placement. First, the effect of magnetic field is greater than the crosstalk between pin and pin. Second, the magnetic field on both sides between + and - is strong when approaching one step with noise source. Third, the magnetic field strength is improved when setting the ground pin as the ground pin between the noise and the original signal when approaching the A noise source and the two steps. Fourth, in the case of a differential mode communication, the optimal placement area of the sensitive signal was presented according to positions Tx± and Rx±.

• Journal of Navigation and Port Research
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• v.43 no.4
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• pp.231-236
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• 2019

As ships become bigger, faster, and diverse, transportation has increased the usage of marine vehicles. However, ship accidents are increasing. Ship accidents cause loss of life and property as well as environmental disasters. The occurrence of ship accidents causes enormous economic and environmental impacts. Notably, in the case of passenger ships, methods for preventing ship accidents are being discussed to avoid losing numerous human lives. The purpose of this study is to provide essential data for evacuation before reaching the dangerous time by predicting the time to reach the risk of capsizing based on the heeling angle of the passenger ship. Based on sinking accidents between 2012 and 2016, we set up specific scenarios and simulated the PRR1 data using commercial software MOSES V20. In the case of the linear equation, the simulation results showed a low error rate because the simulation data showed the linear graph. In the case of the quadratic equation, the error rate was low at the beginning but showed a high error rate at the subsequent angle.

• Journal of Advanced Navigation Technology
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• v.26 no.5
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• pp.304-311
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• 2022

Although the SEAD(suppression to enemy air defenses) mission is a strategically important task in modern warfare, the high risk of direct exposure to enemy air defense assets forces to use of unmanned aerial vehicles. this paper proposes a path planning algorithm for SEAD mission for an unmanned aerial vehicle and a method for calculating the mission effectiveness on the planned path. Based on the RRT-based path planning algorithm, a low-altitude ingress/egress flight path that can consider the enemy's short-range air defense threat was generated. The Dubins path-based Intercept path planning technique was used to generate a path that is the shortest path while avoiding the enemy's short-range anti-aircraft threat as much as possible. The ingress/intercept/egress paths were connected in order. In addition, mission effectiveness consisting of fuel consumption, the survival probability, the time required to perform the mission, and the target destruction probability was calculated based on the generated path. The proposed techniques were verified through a scenario.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2020.11a
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• pp.163-164
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• 2020

Along with the increase in global volume of goods, logistics companies are trying to reduce costs by increasing the size of ships carrying cargo, increasing the efficiency of quantitative equipment at ports, and unmanned electric vehicles on land. Korean naval ports are also facing the same situation as the global trend. In the past, small and medium-sized ships such as FF, PCC, and beheaded eagles are being retired for their longevity, and their positions are being replaced by large ships such as KDX, FFG, and LST-II. In particular, large ships such as Dokdo and the next light aircraft carriers are also being prepared. Unlike general merchant ships, naval ships require periodic inspections and preventive maintenance, so repair piers such as maintenance depots are in operation. The naval maintenance depot mainly uses trailers, trucks, and truck-type cranes to carry out loading and unloading of heavy ships, and the application or development of automation and unmanned equipment performed by the private sector is inadequate, and self-improvement cases are also very weak. This study aims to improve the efficiency of the military logistics system through research on the logistics system such as transport, storage and unloading of heavy goods and maintenance products of naval ships.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.249-256
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• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.