• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.34.3-34.3
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• 2008

Relative navigation system is presented using measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide real-time relative navigation results as well as absolute navigation results for two formation flying satellites separated about 1km in low earth orbit. To improve the performance, more accurate dynamic model and modified relative measurement model are developed. This modified method prevents non-linearity of the measurement model from degrading precision by applying linearization about the states from absolute navigation algorithm not about a priori states. Furthermore, absolute states are obtained using ion-free GRAPHIC pseudo-ranges and precise relative states are provided using double differential carrier-phase data based on Extended Kalman Filter. The software-based simulation is performed and achieved meter-level precision for absolute navigation and millimeter-level precision for relative navigation. The absolute and relative accuracies at steady state are about 0.77m and 4mm respectively (3D, r.m.s.). In addition, Integer ambiguity algorithm (LAMBDA method) improves simulation performances.

• Journal of the Korean Society of Safety
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• v.33 no.3
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• pp.65-70
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• 2018

Terrain data for disaster analysis in hazardous or disaster areas is not only important but also needs to be built quickly. In particular, the introduction of drones is in the early stages of research using drones in a variety of fields such as shooting, analyzing and managing hazardous areas. It is expected that drone will be faster, safer and more effective than existing data collection method in case of small scale disaster hazard area and disaster area where equipment or manpower input is difficult. Therefore, in this study, drone shooting was performed for hazardous areas in mountainous roads located in Samcheok city, Gangwon province, and ground reference points were measured by RTK-GPS. The measured data were converted into DSM (Digital Surface Model) data by coordinate correction using Pix4D postprocessing program and then applied to the analysis of the hazard area of mountainous area. As a result, it was shown that it is effective to identify the risk by using the basic terrain data obtained from the drones.

• 한국정보통신설비학회:학술대회논문집
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• 2002.08a
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• pp.17-20
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• 2002

본 논문에서는 세라믹 칩 안테나를 LTCC로 구현하여 다중 대역 특성을 얻는 방법을 제안하고 있다. 휴대용 단말기에 칩 안테나를 내장함으로 물리적 손상을 피하고 위치추적 시스템(GPS) 대역과 단말기 송수신용 대역, 즉 두 대역 이상 사용 가능하고 ${\varepsilon}_r=7.8$인 세라믹 칩 안테나를 LTCC(Low Temperature Co-fired Ceramic)공정을 이용하여 세라믹 칩 내부에 정합 회로를 구현하여 이중 대역 특성을 갖는 구조에 대해 논의하고 있다. 안테나의 전체 크기는 $16mm{\times}4mm{\times}2mm$ 이며 대역폭은 삽입손실 -10dB 기준 대략 1560MHz에서 2160MHz까지 약 600MHz정도이다. 측정은 접지면의 넓이가50mmx50mm이고 두께=0.7874mm, ${\varepsilon}_r=4.6$인 FR4 기판을 이용하여 측정한다.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10c
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• pp.130-134
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• 2007

본 연구는 지형참조항법(TRN; Terrain Referenced Navigation)에 근거하는 헬리콥터 항법 시스템을 위한 기본 알고리즘을 개발하기 위해 수행되었다. 현재 본 연구에 위성항법장치(GPS; Global Positioning System)로부터의 정보(X, Y, Z 좌표)는 비행체가 항로를 비행하는 중 매 92.8m의 수평거리로 환산하여 수신되는 것으로 가정하였다. 비행체는 3차원 직교 좌표 체계(Cartesian coordinate system)로 표현되는 수치지형모델 (DTM; Digital Terrain Model)상에서 시점(Origination)-종점(Destination) 기법에 의해 항로를 결정한다. 본 시스템은 우선 조종사에게 지형의 사전 인식을 위해 시점-종점 주변 3차원 지형도와 항로의 종단면도를 보여준다. 본 시스템은 직접적인 지상 충돌을 피하기 위해 지형 여유 층면(terrain clearance floor)의 개념을 도입, 기복 지형 표면에 일정 높이의 완충 공간을 설정한다. 만약 비행체가 항행 중 완충 공간에 접근하게 되면 본 시스템은 즉시 경고음과 메시지를 발한다(Matlab 메뉴를 사용하였음). 물론 헬리콥터의 이착륙 시에는 불필요한 경고를 발생시키지 않기 위해 완충 공간 조정은 가능하다. 수치지형모델은 (주)첨성대가 확보하고 있는 3초 간격의 DTM을 채택, 작성하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.695-701
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• 2008

In this paper, we propose the efficient Doppler removal method using map-based partial-time common intermediate frequency removal technique. In the proposed algorithm, the 2-stage carrier removal process was used. First, the component of common intermediate frequency is removed. Next the component of Doppler was removed with averaging and approximation. For the evaluation of the proposed algorithm, The real-time software GPS L1 C/A-code receiver was implemented. When the proposed algorithms are used, 12 tracking channels with 3 track arm(early, prompt, late) is operated real-time on PC using a Intel Pentium-III 1.0GHz CPU. Also, the requirement of memory was less than 2Mbytes. The real-time software GNSS receiver using the proposed algorithms provides the navigation solution with below 10 meter rms error. Especially, in spited of using the various approximations for implementing the algorithms, the high sensitivity capability (able to track the weak signal with -159dBm) was achieved.

• Journal of the Korea Society of Computer and Information
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• v.17 no.1
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• pp.97-104
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• 2012

Natural User Interface(NUI) technologies introduce new trends in using devices such as computer and any other electronic devices. In this paper, an augmented reality on a mobile device is implemented by using face detection, recognition and motion tracking. The face detection is obtained by using Viola-Jones algorithm from the images of the front camera. The Eigenface algorithm is employed for face recognition and face motion tracking. The augmented reality is implemented by overlapping the rear camera image and GPS, accelerator sensors' data with the 3D graphic object which is correspond with the recognized face. The algorithms and methods are limited by the mobile device specification such as processing ability and main memory capacity.

• Korean Journal of Agricultural Science
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• v.37 no.1
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• pp.123-130
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• 2010

A steering control system based on CAN(Controller Area Network) for autonomous tractor was developed to reduce duty of a central processing computer and to improve performance of steering control in terms of reduced control interval and error. The steering control system consisted of a SCU (Steering Control Unit), an EHPS system, and a potentiometer. The SCU consisted of an MCU (Micro Controller unit), an A/D converter, and a DC-DC converter, and a PID controller was used to control steering angle. The steering control system was communicated with the computer by CAN-bus. Each actuator and implement was connected to a multi-function board interfacing with the computer through a USB cable. Without CAN, control interval of the autonomous tractor was 1.5 seconds. When the CAN-based steering control system was combined with the autonomous tractor, however, control interval of the integrated system was reduced to those less than 0.05 seconds. When the autonomous tractor was operated with 1.5-s and 0.05-s control cycles at a 0.63-m/s travelling speed, the trajectories were close to straight lines for both of the control cycles. For a 1.34-m/s traveling speed, tractor trajectory was close to sine wave with a 1.5-s control cycle, but was straight line with a 0.05-s control cycle.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.102-104
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• 2002

시각 동기화된 계통 운전데이터를 이용하여 계통의 안정성을 실시간으로 감시, 분석하는 전력계통 온라인 안정성 감시, 분석시스템을 개발하였다. 개발된 시스템은 대용량 발전소와 주요 345kV 전력소에 설치되어 GPS를 이용한 시각 동기화 된 계통 운전데이터를 측정하고, 지역사고 판단 및 사고데이터를 기록하며, 측정/기록데이터를 Master 시스템으로 온라인 전송해주는 Local 시스템과 각 Local 시스템에서 전송되어진 측정/기록데이터를 수집하고, 광역사고 판단 및 사고데이터를 기록하며. 과도안정도를 온라인으로 평가해주는 Master 시스템으로 구성되어 있다. 전력계통 온라인 안정성 감시, 분석시스템 중 Local 시스템은 울진, 영광, 고리 원자력발전소와 동서울, 신제천, 청양, 아산, 신옥천 전력소 등 8개소에 설치하고, Master 시스템은 한국전력거래소(KPX)에 설치하여 우리 계통의 안정운용을 위해 활용할 예정이다.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.5
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• pp.522-526
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• 2015

Generally, underwater unmanned vehicle have adopted an inertial navigation system (INS), dead reckoning (DR), acoustic navigation and geophysical navigation techniques as the navigation method because GPS does not work in deep underwater environment. Even if the tactical inertial sensor can provide very detail measurement during long operation time, it is not suitable to use the tactical inertial sensor for small size and low cost UUV because the tactical inertial sensor is expensive and large. One alternative to INS is attitude heading reference system (AHRS) with the micro-machined electro mechanical system (MEMS) inertial sensor because of MEMS inertial sensor's small size and low power requirement. A cost effective and small size attitude heading reference system (AHRS) which incorporates measurements from 3-axis micro-machined electro mechanical system (MEMS) gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for UUV. The AHRS based MEMS overcome many problems that have inhibited the adoption of inertial system for small UUV such as cost, size and power consumption. Several evaluation experiments were carried out for the validation of the developed AHRS's function and these experiments results are presented. Experiments results prove the fact that the developed MEMS AHRS satisfied the required specification.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.71-77
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• 2020

KRS which is subsystem of Korea Augmentation Satellite System (KASS) performs a role of collecting and monitoring GPS signals. In order to generate the accurate correction message, the site which meets the requirements should be selected and verification to meet each requirement should be accompanied. When the sites are selected, the environmental considerations are EMI, clear horizon (CH) and multipath. Of these, EMI and CH can be checked for satisfaction by instrumentation, but multipath error is difficult to predict. Therefore, multipath error analysis for the installation position of actual antenna at each KRS site should be preceded, and multipath scenario should be generated for each location to analyze the effects of the resulting system performance. In this paper, based on satellite signals collected from each KRS sites, the method for analyzing multipath error in each KRS sites is described, and the multipath error is analyzed. Also to perform an analysis of the effects on system performance due to multipath error, multipath error modeling is performed for the generation of simulation scenarios.