• Korean Journal of Remote Sensing
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• v.27 no.1
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• pp.51-58
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• 2011

Accurate DEM(Digital Elevation Model) generation using satellite images is an active research topic. This paper focuses on generation of a DEM with multiple Kompsat-2 images. For DEM generation, we applied an orbit-attitude sensor model and a RPM sensor model to stereo and multiple Kompsat-2 images respectively. For matching, we used an object-space based matching method. Through the result of this experiment, we could confirm that the sensor model from multiple images is more accurate than the model from stereo images. Also DEM from multiple images gave much better performance than DEM from stereo images.

• Journal of The Korean Association of Information Education
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• v.18 no.2
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• pp.213-224
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• 2014

STEAM learning, which combined software with hardware, can greatly increase algorithm improvement, problem-solving skills, integrated thinking ability etc. and can ultimately improve learning attitude and academic achievement. In this study, we developed STEAM learning model so that 6th graders who can fully understand the basic concept of programming can learn subject contents of national textbooks (5 kinds) with programming that combined six sensors attached Sensor_board with Scratch and applied it to 6th grade class and analyzed the results. As a result, the STEAM learning tool that combined Scratch with Sensor_board was analyzed to be suitable for most elementary school students to be evaluated. In the achievement evaluation of learning, 39.5% of students obtained more than 7 points out of perfect 10 in the average achievement level of 5 subjects so most students evaluated were analyzed to obtain satisfactory achievement. Therefore, STEAM learning using Scratch and Sensor_board, hardware is considered to be more effective than existing software-centered ${\times}$learning using only software.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.115-121
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• 2024

As the radar mounted on a moving platform moves and rotates, the state of the radar's coordinate system also changes. At this time, in order to track target, the target's coordinates should be converted using the platform state measured from the sensor, and tracking performance may deteriorate due to causes such as sensor noise, communication delay, and sensor update cycle. In this paper, to minimize the degradation of tracking performance because of sensor error, we designed a navigation filter to estimate the state of the moving platform and analyzed the effect of improving tracking performance by applying the navigation filter through a simulation test. To design this navigation filter, three filter algorithms were applied and analyzed to confirm the effect of improving platform position and attitude performance for each filter, and the navigation filter designed by applying the highest performance filter algorithm was applied to a tracking simulation test. Finally we confirmed Improvement in tracking performance before and after applying navigation filters.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.6
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• pp.267-275
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• 2013

EKF has been widely used for GPS/INS integration as standard method but EKF has one well-known drawback. if the errors are not within the bounded region, the filter may be divergent. The particle filter has the advantage of the nonlinear and non-gaussian system. This paper proposes a method for compensating the GPS position errors based on the particle filter and presents loosely-coupled GPS/INS integration using proposed algorithm. We used GPS position pattern with particle filter and added attitude kalman filter for improving attitude accuracy. To verify the performance, the proposed method is compared with high cost GPS as reference. In the experimental result, we verified that the accuracy and robust were well improved by the proposed method filter effectively and robustness than by original loosely-coupled integration when vehicle turns at corner.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.9
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• pp.907-913
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• 2010

In this paper, we have described a development of the external instrumentation system of a fighter aircraft for flight test. The external instrumentation system consists of the instrumentation pod and the image pod. The instrumentation pod measures a flight data(attitude, velocity, altitude, etc) of the fighter aircraft by using GPS/AHRS sensor. The image pod takes high-speed images for the separation trajectory of a smart bomb with 2 high-speed cameras and video signal for it with one general camera. We have verified the performance of the external instrumentation system through the ground test, the environment test and the flight test.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.590-593
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• 2004

Extraction of ocean surface current velocity offers important physical oceanographic parameters especially on understanding ocean environment. Although Remote Sensing techniques were highly developed, the investigation of ocean surface current using Synthetic Aperture Radar (SAR) is not an easy task. This paper presents the results of ocean surface current observation using Doppler Centroid of ERS-1 SAR data obtained off the coast of Korea peninsula. We employed the concept, in which Doppler frequency shift and the ocean surface current are closely related, to evaluate ocean surface current. Moving targets cause Doppler frequency shift of the back scattered radar waves of SAR, thus the line-of-sight velocity component of the scatters can be evaluated. The Doppler frequency shift can be measured by estimating the difference between Doppler Centroid of raw SAR data and reference Doppler Centroid. Theoretically, the Doppler Centroid is zero; however, squinted antenna which is affected by several physical factors causes Doppler Centroid to be nonzero. The reference Doppler Centroid can be obtained from measurements of sensor trajectory, attitude and Earth model. The estimated Doppler Centroid was compensated by considering the accurate attitude estimation of ERS-1 SAR. We could verify the correspondence between the estimated ocean surface current and observed in-situ data in the error bound.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.702-710
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• 2008

In this paper, the observability of the INS/GPS integrated system for a land vehicle is analyzed on measurements and different filters with respect to the measurements are designed. In the stationary case, it is shown that horizontal accelerometer biases and vertical attitude errors and gyro biases are unobservable. An 8-state filter is designed based on the observability analysis. When GPS signal is available, a 15-state filter is used with position and velocity measurements. To estimate the INS errors even in the case that GPS signal is blocked a filter is designed in consideration of the non-holonomic constraints of a land vehicle. In this case, the horizontal position and velocity errors and vertical attitude error are unobservable. However, a 12-state filter including the velocity states is designed to estimate the accelerometer biases. When GPS signal recovers, a 9-state filter is used excluding the sensor biases. This paper presents a multi-dimensional filter that switches the four filters according to the usable measurements and maneuver environments. A simulation is carried out to verify the performance of the proposed filter.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.113-122
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• 2002

Control system modeling and optimal bending filter design for KSR-III (Korea Sounding Rocket III) are performed. Rigid rocket dynamics, aerodynamics, sloshing, structural bending, actuator dynamics, sensor dynamics and on-board computer characteristics are considered for control system modeling. Compensation for time-varying control system parameters is conducted by gain-scheduling. A filter to stabilize bending mode is designed using parameter optimization technique. Resultant attitude control system can satisfy required frequency domain stability margin.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.128-136
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• 2011

An approach to improve the performance of SDINS and GPS integrated system for bank-to-turn flight vehicles is described. Then, it is shown through the simulation that a specific gyro misalignment error results in an increased heading error of SDINS. A new modelling method is presented herein for identifying of sensor and attitude error. The main advantage of the proposed method is that it not only estimates the gyro misalignment error of SDINS, but also improves estimate performance of heading error of SDINS in the presence of the gyro misalignments.