• KSCE Journal of Civil and Environmental Engineering Research
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• v.41 no.4
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• pp.469-475
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• 2021

In order to effectively maintain and manage river facilities, on going data collection of associated objects is important. However, the existing data acquisition methods of using a total station, a global navigation satellite system, or a terrestrial laser scanner have limitations in terms of cost/time/manpower when acquiring spatial information data on river facilities distributed over a wide and long area, unlike general facilities. In contrast, a mobile mapping system (MMS), which acquires data while moving its platform, acquires precise spatial information data for a large area in a short time, so it is suitable for use in the maintenance of linear facilities around rivers. As a result of applying a MMS to a research area of 4 km, 184,646,099 points were acquired during a 20-minute data acquisition period, and 378 cross-sections were extracted. By comparing this with computer-drawn river plans, it was confirmed that efficient levee management using a MMS is possible.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.388-396
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• 2007

This paper describes a multipath estimation method for Global Positioning System (GPS) dual frequency carrier phase measurements. Multipath is a major error source in high precision GPS applications, i.e., carrier phase measurements for precise positioning and attitude determinations. In order to estimate and remove multipath at carrier phase measurements, an array GPS antenna system has been used. The known geometry between the antennas is used to estimate multipath parameters. Dual frequency carrier phase measurements increase the redundancy of measurements, so it can reduce the number of antennas. The unscented Kalman filter (UKF) is recently applied to many areas to overcome some of the limitations of the extended Kalman filter (EKF) such as weakness to severe nonlinearity. This paper uses the UKF for estimating multipath parameters. A series of simulations were performed with GPS antenna arrays located on a straight line with one reflector. The geometry information of the antenna array reduces the number of estimated multipath parameters from four to three. Both the EKF and the UKF are used as estimation algorithms and the results of the EKF and the UKF are compared. When the initial parameters are far from true parameters, the UKF shows better performance than the EKF.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.12
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• pp.1054-1061
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• 2015

Navigation accuracy, integrity, and safety of commercial Unmanned Aerial Vehicle (UAV) is becoming crucial as utilization of UAV in commercial applications is expected to increase. Recently, the concept of Local-Area Differential GNSS (LADGNSS) which can provide navigation accuracy and integrity of UAV was proposed. LADGNSS can provide differential corrections and separation distances for precise and safe operation of the UAV. In order to derive separation distances between UAVs, modeling of Flight Technical Error (FTE) is required. In most cases, FTE for civil aircraft has been assumed to be zero-mean normal distribution. However, this assumption can cause overconservatism especially for UAV, because UAV may use control and navigation equipments in wider performance range and follow more diverse path than standard airway for civil aircraft. In this research, flight experiments were carried out to understand the characteristics of FTE distribution. Also, this paper proposes to use Johnson distribution which can better describe heavy-tailed and skewed FTE data. Futhermore, Kolmogorov-Smirnov and Anderson-Darling tests were conducted to evaluate the goodness of fit of Johnson model.

• Journal of Advanced Navigation Technology
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• v.15 no.4
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• pp.523-535
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• 2011

The precipitable water vapor (PW) was estimated using Global Navigation Satellite System (GNSS) from several GNSS stations within the Korean Peninsula. Nearby radiosonde sites covering the GNSS stations were used for the comparison and validation of test results. GNSS data recorded under typical and severe weather conditions were used to generalize our approach. Based on the analysis, we have confirmed that the derived PW values from the GNSS observables were well agreed on the estimates from the radiosonde observables within 10 mm level. Assuming that the GNSS observables could be a good weather monitoring tool, we further tested the performance of the current WAAS tropospheric delay model, UNB3, in the Korean Peninsula. Especially, the wet zenith delays estimated from the GNSS observables and from UNB3 delay model were compared. Test results showed that the modelled approach for the troposphere (i.e., UNB3) did not perform well especially under the wet weather conditions in the Korean Peninsula. It was suggested that a new model or a near real-time model (e.g., based on regional model from GNSS or numerical weather model) would be highly desirable for the Korean WA-DGNSS to minimize the effects of the tropospheric delay and hence to achieve high precision vertical navigation solutions.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.5
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• pp.395-401
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• 2018

Recently, most of mobile devices are equipped with GNSS (Global Navigation Satellite System). When the GNSS signal is available, it is easy to obtain position information. However, GNSS is not suitable solution for indoor localization, since the signals are normally not reachable inside buildings. A wide varieties of technology have been developed as a solution for indoor localization such as Wi-Fi, beacons, and inertial sensor. With the increased sensor combinations in mobile devices, mobile devices also became feasible to provide a solution, which based on PDR (Pedestrian Dead Reckoning) method. In this study, we utilized the combination of three sensors equipped in mobile devices including accelerometer, digital compass, and gyroscope and applied three representative PDR methods. The proposed methods are done in three stages; step detection, step length estimation, and heading determination and the final indoor localization result was evaluated with terrestrial LiDAR (Light Detection And Ranging) data obtained in the same test site. By using terrestrial LiDAR data as reference ground truth for PDR in two differently designed experiments, the inaccuracy of PDR methods that could not be found by existing evaluation method could be revealed. The firstexperiment included extreme direction change and combined with similar pace size. Second experiment included smooth direction change and irregular step length. In using existing evaluation method which only checks traveled distance, The results of two experiments showed the mean percentage error of traveled distance estimation resulted from three different algorithms ranging from 0.028 % to 2.825% in the first experiment and 0.035% to 2.282% in second experiment, which makes it to be seen accurately estimated. However, by using the evaluation method utilizing terrestrial LiDAR data, the performance of PDR methods emerged to be inaccurate. In the firstexperiment, the RMSEs (Root Mean Square Errors) of x direction and y direction were 0.48 m and 0.41 m with combination of the best available algorithm. However, the RMSEs of x direction and y direction were 1.29 m and 3.13 m in the second experiment. The new evaluation result reveals that the PDR methods were not effective enough to find out exact pedestrian position information opposed to the result from existing evaluation method.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.26 no.3
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• pp.250-257
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• 1993

The Global Positioning System(GPS) is a worldwide radio navigation system based on satellite technology. Signal availability and accuracy of GPS are subject to change due to an incomplete constellation and operational test activities. In order to analyze the signal availability and accuracy of GPS, we made an experiment on this system in Kunsan during April 6, 7, 9, 10, 1992. The results obtained are summarized as follows: 1. It was possible to avail the GPS system almost 24 hours per day, but sometimes it was impossible to obtain the GPS signal 2 or 3 times per day and its total time was at the most an hour. 2. By using satellite almanac, we also could calculate PDOP(HDOP) and forecast signal availability. And the mean positional error was $37.9{\sim}73.6m$ and standard deviation was $37.4{\sim}133.1m$. The positional error almost coincided with PDOP(HDOP). 3. The mean positional error of 3D was less than that of 2D. And the altitude error in 3D was about $56{\sim}74m$ and its standard deviation was about $65{\sim}93m$.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.47-53
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• 2011

To enable the efficient operation of ITS, it is necessary to collect location data for vehicles on the road. In the case of futuristic transportation systems like ubiquitous transportation and smart highway, a method of data collection that is advanced enough to incorporate road lane recognition is required. To meet this requirement, technology based on radio frequency identification (RFID) has been researched. However, RFID may fail to yield accurate location information during high-speed driving because of the time required for communication between the tag and the reader. Moreover, installing tags across all roads necessarily incurs an enormous cost. One cost-saving alternative currently being researched is to utilize GNSS (global navigation satellite system) carrierbased location information where available. For lane recognition using GNSS, a precise digital map for determining vehicle position by lane is needed in addition to the carrier-based GNSS location data. A "precise digital map" is a map containing the location information of each road lane to enable lane recognition. At present, precise digital maps are being created for lane recognition experiments by measuring the lanes in the test area. However, such work is being carried out through comparison with vehicle driving information, without definitions being established for detailed performance specifications. Therefore, this study analyzes the performance requirements of a precise digital map capable of lane recognition based on the accuracy of GNSS location information and the accuracy of the precise digital map. To analyze the performance of the precise digital map, simulations are carried out. The results show that to have high performance of this system, we need under 0.5m accuracy of the precise digital map.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.9
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• pp.689-699
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• 2013

During extreme ionospheric storms, anomalous ionospheric delays and gradients could cause potential integrity threats to users of GNSS (Global Navigation Satellite System) augmentation systems. GNSS augmentation ground facilities must monitor these ionospheric anomalies defined by a threat model and alarm the users of safely-of-life applications within time-to-alerts. Because the ionospheric anomaly threat model is developed using data collected from GNSS reference stations, the use of poor-quality data can degrade the performance of the threat model. As the total number of stations increases, the number of station with poor GNSS data quality also increases. This paper analyzes the quality of data collected from Korean GPS reference stations using comprehensive GNSS data quality check algorithms. The results show that the range of good and poor qualities varies noticeably for each quality parameter. Especially erroneous ionospheric delay and gradients estimates are produced due to poor quality data. The results obtained in this study should be a basis for determining GPS data quality criteria in the development of ionospheric threat models.

• Spatial Information Research
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• v.16 no.3
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• pp.373-383
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• 2008

LiDAR, unlike satellite imagery and aerial photographs, which provides irregularly distributed three-dimensional coordinates of ground surface, enables three-dimensional modeling. In this study, urban area was classified based on 3D information collected by LiDAR. Morphological and spatial properties are determined by the ratio of ground and non-ground point that are estimated with the number of ground reflected point data of LiDAR raw data. With this information, the residential and forest area could be classified in terms of height and density of trees. The intensity of the signal is distinguished by a statistical method, Jenk's Natural Break. Vegetative area (high or low density) and non-vegetative area (high or low density) are classified with reflective ratio of ground surface.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.987-992
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• 2009

Continuous Compaction Control is a new cutting edge technique in United States, Japan and European construction market that uses an instrumented compactor to measure soil stiffness in real time usually with vehicle tracking system such as Global Navigation Satellite System (GNSS). In this study, soil stiffness was evaluated by adapting Fourier transforming technique with acceleration data obtained from accelerometers used as a continuous compaction control instrument. The soil stiffness obtained by accelerometers gave analogous results with reference results such as dry density, elastic modulus obtained from Geogauge and Light falling deflectometer.