• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1778-1779
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• 2011

The location of outdoor mobile robot is obtained using global coordinates from GPS. However, the error generated by GPS is about 10m ~ 100m, so the precise control is difficult. D-GPS has the error value of 1m and it is very accurate, but the price is very expensive. In this paper, a method to reduce the error in global coordinates is proposed using two low-cost GPS for the autonomous navigation control of outdoor mobile robot.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.195-196
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• 2010

This study aims to methodology a system which is able to monitoring and analysis of long span bridge in real time using multi GPS. Through setting up many GPS at the important points of long span bridge and measuring displacement in real time, over all 3D configuration of bridge could be analyzed. Behavior analyzing system developed in this study is able to digitize and visualize the overall and points displacement of bridge and deal with events actively. Also it is able to calculate statistical data related to analyze behavior through the constricting database of measuring data.

• 반도체디스플레이기술학회지
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• 제23권2호
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• pp.38-44
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• 2024

This research proposed DBSCAN-D, which is a clustering technique for locating POI based on existing density-based clustering research, such as GPS data, generated by moving objects. This method is designed based on 'staying time' and 'directionality' extracted from the relationship between GPS data. The staying time can be extracted through the difference in the reception time between data using the time at which the GPS data is received. Directionality can be expressed by moving the area of data generated later in the direction of the position of the previously generated data by concentrating on the point where the GPS data is sequentially generated. Through these two properties, it is possible to perform clustering suitable for the data set generated by the moving object.

• 한국측량학회지
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• 제27권5호
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• pp.555-563
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• 2009

모바일 매핑 시스템 또는 로봇이 GPS (Global Positioning System)와 다중 스테레오 카메라만 탑재 할 경우, V-SLAM(Vision based Simultaneous Localization And Mapping)에 의한 카메라 외부표정과 3차원 데이터를 GIS데이터와 연계 또는 카메라 외부표정의 누적에러를 제거하기 위해 극부 카메라 좌표계에서 GPS (Global Positioning System) 좌표계로 변환이 필요로 한다. 이 요구사항을 만족시키기 위해, 본 논문은 GPS와 V-SLAM에 의한 3쌍의 카메라의 위치를 이용하여 GPS좌표계에서 카메라 자세를 계산하는 새로운 방법을 제안하였다. 제안한 방법은 간단한 4단계로 구성되어 있다; 1)각 3개의 카메라 위치에 기반한 두 평면 법선벡터가 병렬이되도록 하는 사원수 (quaternion)를 계산한다, 2) 계산된 사원수를 통하여 V-SLAM에 의한 3개의 카메라 위치를 변환한다, 3) 변환된 위치에서 두번째 또는 세번째 점이 GPS에 의한 점과 일치하도록 하는 두번째 사원수를 계산한다, 4)두 사원수의 곱을 통하여 최종 사원수 결정한다. 최종 사원수는 극부 카메라 좌표계에서 GPS좌표계로 변환할 수 있다. 추가적으로, 촬영된 물체 위치에서 카메라를 보는 시야각을 기반으로 물체의 3차원좌표 갱신방법을 제안하였다. 본 논문은 제안한 방법을 시뮬레이션과 실험을 통하여 증명하였다.

• 정보처리학회논문지D
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• 제12D권3호
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• pp.481-492
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• 2005

시각 장애인용 유도 로봇을 안전하게 유도하기 위해서는 경로를 검색하기 위해 사용되는 전자지도가 섬세해야 하며 위험한 위치에 대한 정보를 가지고 있어야 한다. 또한 GPS와 INS에 의해 획득한 위치정보를 통하여 안전하면서도 빠른 최단 경로를 검색해야 한다. 본 논문에서는 시각 장애인의 인식 능력의 차이에 따라 시각 장애인에게 경로의 안내 및 위치정보만을 제공하는 이동경로 생성 및 확인을 위한 자기 위치 추적 시스템과 주변 환경정보인식 및 GPS 오차보정기능을 가진 유도로봇과 통합된 시각장애인용 전역항법시스템을 구현하였다. 이 시스템을 통하여 시각 장애인이 비교적 짧은 거리를 이동하고자 할 때 활용할 수 있으며, 실외 환경에서는 GPS의 보조 항법 시스템으로 위치의 보정을 할 수 있음을 알 수 있었다.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1073-1080
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• 2008

A GPS receiver platform has been developed to design an interference rejection filter and the platform is also able to evaluate performance of those filters. This platform consists of RF/IF part, data acquisition part and PC part. The RF/IF part converts RF signals to IF signals, the data acquisition part transmits the IF signals to PC using USB device. The PC part rejects the interferences with a filter and then it does navigation with GPS software receiver. The RF/IF part and data acquisition part had been validated with signal spectrum, and the PC part had been validated with the navigation results of GPS receiver. Finally, the entire platform including interference rejection filter has been confirmed with the navigation results in case that the GPS signals and interference entered this platform. As a result, the GPS receiver operated well against interference with 45dB JSR.

• Journal of information and communication convergence engineering
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• 제6권1호
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• pp.6-9
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• 2008

In future domestic context aware applications the location of mobile devices is often required. Ultrasonic technology enables high resolution indoor position measurements. A disadvantage of state-of-art ultrasonic systems is that several base stations are required to estimate 3D position. This study aims to evaluate the efficiency and effectiveness of using UPS as a 3D free-hand writing or drawing tool. The processes include the design and testing of UPS as an efficient 3D free-hand writing or drawing tool in the air. The paper will further explain the system architecture of the UPS and how to use GPS as 3D free-hand writing or drawing tool. The efficiency and effectiveness of the system was confirmed by a computer software simulation. The software will further display the result of drawing or writing from the user by graphics. As a result, it is possible to implement UPS as a 3D free-hand writing or drawing tool in the air.

• 한국신뢰성학회지:신뢰성응용연구
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• 제9권2호
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• pp.93-106
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• 2009

GPS(Global positioning system) system is widely used in artificial satellite, ground controlled approach system as well as in end-user environment such as in the automobile. It is exposed to a very diverse environment and consists of many complicated components and therefore needs careful approach to the enhancement of reliability of the item. In this article reliability standards for the GPS system are established in terms of quality certification tests and failure rate tests.

• Journal of Positioning, Navigation, and Timing
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• 제4권1호
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• pp.17-23
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• 2015

With the increase in the risk of GPS jamming, the development and application of anti-jamming GPS techniques have been actively performed. As the objective performance verification of developed techniques is important, equipment development for verification and discussion on anti-jamming performance test method and procedure have also been conducted. However, most tests are related to the specification of equipment and therefore detailed procedure of the performance verification of an anti-jamming system needs to be developed. In this study, requirements for anti-jamming performance verification were described, and test configurations and performance evaluation items depending on three kinds of test methods (lab test, basic outdoor test, and chamber test) were suggested for anti-jamming performance verification.

• ETRI Journal
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• 제28권3호
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• pp.265-274
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• 2006

Recent advances in positioning and photogrammetry technologies have made it possible to build a mobile mapping system (MMS) that can obtain 3D coordinates of geographic objects from stereo images recorded from a moving vehicle. In this paper, we present a design and detailed implementation of an MMS called a 4S-Van. Furthermore, we present four issues that have made major contributions to the performance of an MMS: 1) CCD camera calibration, 2) GPS signal condition, 3) integrating a GPS, inertial navigation system (INS), distance measurement indicator (DMI), and CCD cameras, and 4) the orientation angle of CCD cameras. In the experimental results, the performance of an MMS was analyzed for each component, giving an idea of how to effectively design and integrate each component in developing an MMS to get a maximal accuracy of 3D coordinates.