• 한국정밀공학회지
• /
• 제13권9호
• /
• pp.84-93
• /
• 1996

This paper describes the development of new feature positioning method which embedded into the top-down assembly modeling system supporting conceptual design. In this work, the user provides the geometric constraints representing the position and size of features, then the system calculates their proper solution. The use of geometric constraints which are easy to understand intuitively enables the user to represent his design intents about geometric shapes, and enables the system to propagate the changes automatically when some editing occurs. To find the proper solution of given constraints, the Selective Solving Method in which the redundant or conflict equations are detected and discarded is devised. The validity of feature shapes satisfying the constraints can be maintained by this technique, and under or over constrained user-defined constraints can also be estimated. The problems such as getting the initial guess, controlling the multiple solutions, and dealing with objects of rotational symmetry are also resolved. Through this work, the feature based modeling system can support more general and convenient modeling method, and keeps the model being valid during modifying models.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제9권11호
• /
• pp.4453-4468
• /
• 2015

This paper investigates optimization-based base station (BS) placement. An optimization model is defined and the BS placement problem is transformed to a lexicographical stratified programming (LSP) model for a given trajectory, according to different accuracy requirements. The feasible region for BS deployment is obtained from the positioning system requirement, which is also solved with signal coverage problem in BS placement. The LSP mathematical model is formulated with the average geometric dilution of precision (GDOP) as the criterion. To achieve an optimization solution, a tolerant factor based complete stratified series approach and grid searching method are utilized to obtain the possible optimal BS placement. Because of the LSP model utilization, the proposed algorithm has wider application scenarios with different accuracy requirements over different trajectory segments. Simulation results demonstrate that the proposed algorithm has better BS placement result than existing approaches for a given trajectory.

• 대한임베디드공학회논문지
• /
• 제10권2호
• /
• pp.101-108
• /
• 2015

In this paper, a robust traffic light detection method is proposed by using vision sensor and DGPS(Difference Global Positioning System). The conventional vision-based detection methods are very sensitive to illumination change, for instance, low visibility at night time or highly reflection by bright light. To solve these limitations in visual sensor, DGPS is incorporated to determine the location and shape of traffic lights which are available from traffic light database. Furthermore the geometric relationship between traffic light and vision sensor is used to locate the traffic light in the image by using DGPS information. The empirical results show that the proposed method improves by 51% in detection rate for night time with marginal improvement in daytime environment.

• Korean Journal of Geomatics
• /
• 제2권1호
• /
• pp.17-24
• /
• 2002

The Global Positioning System technology has been widely used in positioning and attitude determination. It is well known that the accuracy, availability and reliability of the positioning results are heavily dependent on the number and geometric distribution of tracked GPS satellites. Because of this limitation, in some situations, such as in urban canyons, underground or inside of buildings, it is difficult to navigate with GPS receiver. Therefore, in order to improve the performance of satellite-based positioning, the integration of GPS with the pseudolite technology has been proposed. With this pseudolite technology, it is expected that seamless positioning service can be provided in a wider area without replacing existing GPS receivers. On the other hand, to adopt pseudolites on a larger scale, it is necessary to verify how the pseudolites may complement the existing GPS-based positioning. In this paper the authors present the details of the experiments and the results of the fundamental verification for seamless positioning using integration of GPS and pseudolite. This paper shows that the accuracy and efficiency of integrating GPS and pseudolite through the dynamic and static positioning experiment. The influence of pseudolite signal on GPS receiver is also discussed. The experimental results indicate that the accuracy of the height component can indeed be significantly improved, to approximately the same level as the horizontal component.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2002년도 창립 20주년기념 국제학술대회
• /
• pp.77-84
• /
• 2002

The Global Positioning System, GPS technology has been widely used in positioning and attitude determination. It is well known that the accuracy, availability and reliability of the positioning results are heavily dependent on the number and geometric distribution of tracked GPS satellites. Because of this limitation, in some situations, such as in urban canyons, underground space or inside of buildings, it is really hard to navigate with GPS receiver. Therefore, in order to improve the performance of satellite-based positioning, the integration of GPS with the pseudolite technology has been proposed. With this pseudolite technology, it is expected that seamless positioning service can be provided in wider area without replacing existing GPS receivers. On the other hand, to adopt pseudolites at larger scale, it is necessary to verify how the pseudolites can complement the existing GPS-based positioning. In this paper the authors present the detail of experimental investigations and the results of the fundamental verification for seamless positioning using integration of GPS and pseudolite. This paper shows that the accuracy and efficiency of integrating GPS and pseudolite through the dynamic and static positioning experiment and discuss about the influence on GPS receiver by pseudolite signal. The experimental results indicate that the accuracy of the height component can indeed be significantly improved, to approximately the same level as the horizontal component.

• 제어로봇시스템학회논문지
• /
• 제7권6호
• /
• pp.550-557
• /
• 2001

There are several applications and error analysis methods using GPS(Global Positioning System) In most analysis positioning and timing errors are represented as the multiplication of DOP(Dilution Of Precision) and measurement errors, which are affected by the receiver and measurement type. Therefore, lots of DOPs are defined and used to analyze and predict the performance of positioning and timing systems. In this paper, the relationships between these DOPs are investigated in detail, The relationships between GDOP(Geometric DOP), PDOP(Position DOP) and TDOP(Time DOP) in the absolute positioning are de-rived. Using these relationships, the affect of clock bias is analyzed. The relationships between RGDOP(Relative DOP) and PDOP are also derived in relative positioning where the single difference and double dif-ference techniques are used. From the results, it is expected that using the common clock will give better performance when the single difference technique is used while the effects of clock is eliminate when the double difference technique is used. Finally, the error analyses of dual frequency receivers show that the narrow lane measurements give more accurate results than wide line of or L1. L2 independent measurements.

• 제어로봇시스템학회논문지
• /
• 제4권2호
• /
• pp.220-225
• /
• 1998

In GPS (Global Positioning System) positioning, various measures can be used to select satellites or to evaluate the positioning results. Among these, GDOP (Geometric Dilution of Precision) and RGDOP (Relative GDOP) are the most frequently used. Although these measures are frequently used, the relationship between them is not clearly known. Moreover, the condition number is used as a traditional measure of numerical stability in solving linear equations. Sometimes, the volume of a tetrahedon made by the line of sight vector is used for simplicity. All of these measures share some common properties as well as differences. The relationships between these measures are analyzed in this paper.

• 한국정밀공학회지
• /
• 제16권10호
• /
• pp.45-52
• /
• 1999

The online realtime positioning error compensation system 'SKY-PACS' is developed to correct geometric errors, thermal errors and tool deflection errors induced by cutting forces on the vertical machining center. 'SKY-PACS' communicates position commands and position compensation signals with the CNC controller at 100Hz, which is CNC control frequency. So the compensation procedure can be applied during axis movement. Using 'SKY-PACS', Maximum 1 axis positioning accuracy was corrected from 5{\mu}m$ to 2{\mu}m$and the squareness error of X-Y table was corrected from 51{\mu}m$/m to below 4{\mu}m$/m. The error compensation under the cutting condition is carried out by ISO10791-7. And the measurement of test-pieces shows that the roundness is corrected rom 8{\mu}m$ to below 5{\mu}m$.

• Journal of Positioning, Navigation, and Timing
• /
• 제9권3호
• /
• pp.285-292
• /
• 2020

This paper introduces a new computational efficient Dilution of Precision (DOP)-based landmark exclusion method while ensuring the safety of the LiDAR-based navigation system that uses an innovation-based Nearest-Neighbor (NN) Data Association (DA) process. The NN DA process finds a correct landmark association hypothesis among all potential landmark permutations using Kalman filter innovation vectors. This makes the computational load increases exponentially as the number of landmarks increases. In this paper, we thus exclude landmarks by introducing DOP that quantifies the geometric distribution of landmarks as a way to minimize the loss of integrity performance that can occur by reducing landmarks. The number of landmarks to be excluded is set as the maximum number that can satisfy the integrity risk requirement. For the verification of the method, we developed a simulator that can analyze integrity risk according to the landmark number and its geometric distribution. Based on the simulation, we analyzed the relationship between DOP and integrity risk of the DA process by excluding each landmark. The results showed a tendency to minimize the loss of integrity performance when excluding landmarks with poor DOP. The developed method opens the possibility of assuring the safety risk of the Lidar-based navigation system in real-time applications by reducing a substantial amount of computational load.

• 대한전자공학회논문지TC
• /
• 제48권3호
• /
• pp.74-82
• /
• 2011

본 논문연구에서는 군용 무인차량과 보병의 위치를 실시간으로 추적하여 충돌을 방지하기 위한 제어시스템을 개발하였다. 개발된 제어시스템은 무선장비들의 위치를 추적하기 위하여 저비용의 RSS 측정값을 사용하였다. 다중경로 환경에서 장비들 위치 추적의 정확성을 향상시키기 위하여 수학적 평균 필터링 과정을 거쳐서 RSS 행렬 값들을 계산하였다. 또한 무선통신 환경에서 빈번히 발생하는 손실된 패킷의 복구 또는 대체를 위하여 퍼지 규칙 선행 알고리즘을 개발하였다. 무선장비들 사이의 거리 정보를 기반으로 무선장비의 위치를 추적하기 위하여 그라디언트(gradient) 알고리즘과 기하학적 삼각 추적 알고리즘을 개발하였다. 성능 평가를 위하여 기하학적 삼각 추적 알고리즘의 위치 추적 결과를 GPS에 의한 위치와 그라디언트 알고리즘의 위치 추적 결과와 비교 분석하였다.