• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.10
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• pp.1002-1009
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• 2009

Precision guidance filter design for a tactical missile with a strapdown seeker aided by low-cost strapdown sensors has been addressed in this paper. The low-cost strapdown sensors consist of an IMU with 3-axis accelerometers and gyroscopes, 3-axis magnetometers, and a barometer. Missile's position, velocity, attitude, and bias error of the barometer are considered as state variables. Since the state and measurement equations are highly nonlinear, we adopt UKF(Unscented Kalman Filter). The proposed guidance filter has a function of a navigation filter if target position error is not considered. In the case that the target position error is introduced, the proposed filter can effectively estimate the relative states of the missile to the true target. For specific engagement scenarios, we can observe that observability problems occur.

• Journal of Astronomy and Space Sciences
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• v.19 no.4
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• pp.351-366
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• 2002

In this study, we developed low cost INS and (D)GPS integration for continuous attitude and position and utilized it for the determination of exterior orientation parameters of image sensors which are equipped in 4S-Van. During initial alignment process, the heading information was extracted from twin GPS and fine alignment with Kalman filter was performed for the determination of roll and pitch. Simulation and van test were performed for the performance analysis. Based on simulation result, roll and pitch error is around 0.01-0.03 degrees and yaw error around 0.1 degrees. Based on van test, position error in linear road is around 10 cm and curve around 1 m. Using direct georeferencing method, the image sensor's orientation and position information can be acquired directly from (D)GPS/INS integration. 4S-Van achieved 3D spatial data using (D)GPS/INS and image data can be applied to the spatial data integration and application such as contemporary digital map update, road facility management and Video GIS DB.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.293-298
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• 2014

Recently, the direct georeferencing has been becoming a common method in the aerial photogrammetry. As this direct georeferencing method using converged sensor of the digital photogrammetry camera and GPS(Global Positioning System)/INS(Inertial navaigation System), more rapid and accurate aerial photogrammetry has improved following advanced performance in photogrammetry. Since the accuracy of EO parameters from the direct georeferencing is determined by GPS/INS accuracy, it is significant to calculate the exact attitude information using values of INS rotations. For following calculations, the misalignment, such as INS rotation and the gap of GPS/INS, has to be decided. Because the number of ground control points are used for tirangulation and boresight calibration, those results should be different according to array and location of ground control points. In the study, those location and array of ground control points were tested to be used boresight calibration. As a result, there is no significant change of misalignment and exterior orienation parameters in the case when ground control points were at all course. On the contrarily, the difference has been shown in the case of no ground control point at course.

• Korean Journal of Remote Sensing
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• v.24 no.3
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• pp.223-233
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• 2008

In the mid 90's, the U.S. government released images acquired by the first generation of photo reconnaissance satellite missions between 1960 and 1972. The Declassified Intelligent Satellite Photographs (DISP) from the Corona mission are of high quality with an astounding ground resolution of about 2 m. The KH-4A panoramic camera system employed a scan angle of $70^{\circ}$ that produces film strips with a dimension of $55\;mm\;{\times}\;757\;mm$. Since GPS/INS did not exist at the time of data acquisition, the exterior orientation must be established in the traditional way by using control information and the interior orientation of the camera. Detailed information about the camera is not available, however. For reconstructing points in object space from DISP imagery to an accuracy that is comparable to high resolution (a few meters), a precise camera model is essential. This paper is concerned with the derivation of a rigorous mathematical model for the KH-4A/B panoramic camera. The proposed model is compared with generic sensor models, such as affine transformation and rational functions. The paper concludes with experimental results concerning the precision of reconstructed points in object space. The rigorous mathematical panoramic camera model for the KH-4A camera system is based on extended collinearity equations assuming that the satellite trajectory during one scan is smooth and the attitude remains unchanged. As a result, the collinearity equations express the perspective center as a function of the scan time. With the known satellite velocity this will translate into a shift along-track. Therefore, the exterior orientation contains seven parameters to be estimated. The reconstruction of object points can now be performed with the exterior orientation parameters, either by intersecting bundle rays with a known surface or by using the stereoscopic KH-4A arrangement with fore and aft cameras mounted an angle of $30^{\circ}$.

• Korean Journal of Remote Sensing
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• v.25 no.4
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• pp.359-366
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• 2009

Research of accurate DEM generation using images of Kompsat-2 is not enough. This paper focused on generation of accurate Kompsat-2 DEM and comparison with DEM from common software like PCI Geomatica and ENVI. For Kompsat-2 DEM generation, we applied orbit-attitude sensor modeling technique and matching method based on epipolarity and image geometry. The comparison of performance with each commercial programs made a qualitative experiment through naked eyes and a quantitative experiment with USGS DTED. The accuracy was judged by the average absolute error and RMS error with DIED. The result of comparison experiment, we could confirm that the method used in the experiment showed much better performance than DEM made from other commercial programs in most of images.

• Korean Journal of Remote Sensing
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• v.24 no.2
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• pp.133-140
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• 2008

In this paper, we analyzed the accuracy of orbit modeling with various control point configurations and adjustment unknown parameter sets. We used 152 GCP points acquired from GPS surveying, which were distributed from Choon-chun to Nha-ju along 420km in distance. For orbit modeling, seven adjustment parameter sets were chosen to include parameters for satellite position, velocity and attitude angles at different degree of freedom. Firstly we determined the location of model point in seven configurations. Secondly we estimated model parameters for each parameter set and for each GCP configurations. Finally we applied the model to reference check points and analyzed its accuracy. We were able to find the unknown parameter set that produce best orbit modeling performance regardless of the configuration of model points.

• Korean Journal of Remote Sensing
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• v.35 no.5_1
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• pp.727-736
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• 2019

In this paper, we present how to create a point cloud for a target area using multiple unmanned aerial vehicle images and to remove the gaps and overlapping points between datasets. For this purpose, first, IBA (Incremental Bundle Adjustment) technique was applied to correct the position and attitude of UAV platform. We generate a point cloud by using MDR (Multi-Dimensional Relaxation) matching technique. Next, we register point clouds based on observation vectors between stereo images by doing this we remove gaps between point clouds which are generated from different stereo pairs. Finally, we applied an occupancy grids based integration algorithm to remove duplicated points to create an integrated point cloud. The experiments were performed using UAV images, and our experiments show that it is possible to remove gaps and duplicate points between point clouds generated from different stereo pairs.

• Journal of Advanced Navigation Technology
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• v.23 no.3
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• pp.221-227
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• 2019

In this paper, interacting multiple model (IMM) filter was designed that guarantees a stable navigation performance even in the unstable satellite navigation position. In order to design IMM filter in INS / GPS integrated navigation system, sub filter of the IMM filter is defined as Kalman filter. In the IMM filter configuration, two subfilters are determined. Each Kalman filter defines the six-teenth state composed of position, velocity, attitude, and sensor error from the INS error equation and the states additionally derived in case of the coloured measurement noise. In order to verify the performance of the proposed filter, we compared the performance how the filter works in the presence of arbitrary error in GPS navigation solution. The Monte Carlo simulation was performed 100 times and the results were compared with the root mean square(RMS). The results show that the proposed method is stable against errors and show fast convergence.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.454-461
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• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• Journal of Space Technology and Applications
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• v.3 no.1
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• pp.58-71
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• 2023

This paper describes a navigation system design for horizontal position estimation using inertial measurement sensors and celestial navigation. In space, stars are widely spread objects in the celestial sphere and have been used mainly to obtain attitude information through star observation. However, it is also possible to obtain information about the horizontal position with the altitude of the star. It is called celestial navigation which is the same principle that former navigators used to locate themselves while sailing on the sea. In particular, in deep space where GPS is not available, it is important to obtain information on the location by making use of stars that are relatively easy to observe. Therefore, we introduce a navigation system that can estimate horizontal position and design two types of systems, loosely coupled and tightly coupled depending on how the measurements are utilized. It is intended to help in the future design of navigation system using celestial navigation by simulation studies that not only verify whether the system correctly estimates horizontal position but also comparing the performance of loosely and tightly coupled methods.