• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2011년도 춘계학술대회 논문집
• /
• pp.109-116
• /
• 2011

In this paper, we investigate the scheme to improve the position accuracy using GNSS(Global Navigation Satellite System). Then we configure the real-time DGPS environment with use of NTRIP currently being in service on the DGNSS central office of MLTM(Ministry of Land and Transportation). And we verify the improvement of position accuracy and the continuity of GPS correction data through the DGPS test in Chungbuk line and Joongang line.

• 정보처리학회논문지:소프트웨어 및 데이터공학
• /
• 제2권5호
• /
• pp.329-334
• /
• 2013

위치기반서비스는 이라는 것은 GPS(Global Positioning System)를 통해 자신의 위치정보를 이용한다. 이 애플리케이션은 위치기반특성을 이용하여 스마트폰을 등록된 장소에서는 초록 부분에서도 진동모드로 변환시킨다. 스마트폰 사용자가 진동모드가 필요한 장소를 저장하게 되면, 저장된 장소의 위치와 현재의 스마트폰의 GPS 위치를 비교해서 일치되면 자동으로 매너모드로 전환된다. 그리고 지정된 위치에서 일정영역을 벗어나게 되면 진동이 풀리게 되도록 하였다. 따라서 본 논문은 지능형 스마트폰을 지향하기 위해 제안하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.672-675
• /
• 1994

This paper presents a new algorithm to determine the receiver position in satellite navigation for GPS(Global Positioning System). The algorithm which based on vector analysis is able to obtain simultaneously the receiver position and the direction vector which is from the receiver position to a satellite. In its first calculation stage it, does riot require the complex initial value which is used in the previous works and affects the accuracy of the observed receiver position. Furthermore, the algorithm tells us whether a selected configuration among the visible satellites is good or poor for the accuracy. Comparing the algorithm with the previous method, the effectiveness of the algorithm is verified through the experimental simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.37.1-37
• /
• 2002

Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

• Ocean Systems Engineering
• /
• 제1권2호
• /
• pp.171-194
• /
• 2011

A method to design a boundary controller for global stabilization of three-dimensional nonlinear dynamics of flexible marine risers is presented in this paper. Equations of motion of the risers are first developed in a vector form. The boundary controller at the top end of the risers is then designed based on Lyapunov's direct method. Proof of existence and uniqueness of the solutions of the closed loop control system is carried out by using the Galerkin approximation method. It is shown that when there are no environmental disturbances, the proposed boundary controller is able to force the riser to be globally exponentially stable at its equilibrium position. When there are environmental disturbances, the riser is stabilized in the neighborhood of its equilibrium position by the proposed boundary controller.

• Journal of Positioning, Navigation, and Timing
• /
• 제13권3호
• /
• pp.215-220
• /
• 2024

In urban areas, signals can be blocked and reflected by buildings, reducing the reliability of global navigation satellite systems (GNSS). To address this, the zonotope shadow matching (ZSM) algorithm has been proposed to estimate the set-valued receiver position by calculating the GNSS shadow based on the zonotope. However, the existing study only analyzed the performance of ZSM in dense urban areas where GNSS shadows occur frequently, and the performance analysis in various urban environments was insufficient. Therefore, in this paper, we analyzed the performance of the ZSM algorithm in four urban environments with different characteristics. The results showed that the receiver position estimation performance of ZSM was relatively poor in environments where buildings were not densely populated, and the performance of ZSM was shown to be effective in urban environments with narrow roads and tall buildings.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2011년도 제42회 하계학술대회
• /
• pp.1934-1935
• /
• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• International Journal of Aeronautical and Space Sciences
• /
• 제11권2호
• /
• pp.98-109
• /
• 2010

This paper deals with a new method of unmanned aerial vehicle (UAV) recovery when a UAV fails to get a global positioning system (GPS) signal at an unprepared site. The proposed method is based on the simultaneous localization and mapping (SLAM) algorithm. It is a process by which a vehicle can build a map of an unknown environment and simultaneously use this map to determine its position. Extensive research on SLAM algorithms proves that the error in the map reaches a lower limit, which is a function of the error that existed when the first observation was made. For this reason, the proposed method can help an inertial navigation system to prevent its error of divergence with regard to the vehicle position. In other words, it is possible that a UAV can navigate with reasonable positional accuracy in an unknown environment without the aid of GPS. This is the main idea of the present paper. Especially, this paper focuses on path planning that maximizes the discussed ability of a SLAM algorithm. In this work, a SLAM algorithm based on extended Kalman filter is used. For simplicity's sake, a blimp-type of UAV model is discussed and three-dimensional pointed-shape landmarks are considered. Finally, the proposed method is evaluated by a number of simulations.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2010년도 춘계학술대회 논문집
• /
• pp.1525-1532
• /
• 2010

현대의 측량기술은 위성항법시스템 및 원스톱디지털장비의 등장으로 지구공간상 어느 지점이라도 단일좌표체계의 절대성위치 취득이 가능한 시대로 진보하고 있다. 한편 철도의 속도는 나날이 고속화 되어가고 있어 철도건설시 궤도중심을 포함한 주요시설물 등의 위치를 결정할 때 고도화된 정밀성이 요구된다. 이에 따라 철도건설공사측량에서는 기술지원과 절차가 지침화되어 적용되고 있다. 본 연구에서는 철도건설의 설계와 시공 그리고, 유지관리로 이어지는 과정에서 철도건설측량지침 적용에 따른 측량시 문제점에 대한 대안을 시범지구의 실데이터를 통해 분석 연구 제시하였다.

• 한국건설관리학회:학술대회논문집
• /
• 한국건설관리학회 2006년도 정기학술발표대회 논문집
• /
• pp.187-193
• /
• 2006

최근의 과학기술의 발전과 더불어 인공위성을 이용한 GPS 측량시스템의 실용화가 토목을 중심으로 한 건설현장에서도 두드러지고 있다. 특히 측량기준점을 확인하기 어려운 토목현장의 경우에는 GPS 측량의 유용성이 적극적으로 도입되어 실용화 단계에 이르렀다. 그러나 mm단위의 정밀성이 요구되는 건축현장의 경우에는 GPS가 가지는 오차의 크기로 인하여 적용되어 오지 못하다가 최근에 정밀도를 향상시킨 새로운 측량 기술이 개발되어 초고층 건물을 중심으로 적용되고 있다. 본 논문에서는 정확성과 편리성을 획기적으로 개선한 GPS 측량시스템을 세계초고층 건물인 버즈 두바이 현장에 적용한 사례를 소개하고자 한다.