• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.784-789
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• 1994

In the mobile robot research, monitoring the present status and self-navigating the robot in various environment are signifiant. This paper treates a navigation algorithm using a fuzzy logic and a sensor system - laser range finder. The navigation algorithm using a fuzzy logic is achieved by organizing the knoweledge base for self-navigation of mobile robot. In order that mobile robot is economically arrived the goal, the knowledge base is applied to acquire the informations of moving distance, direction, and velocity in every cycle time.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.1
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• pp.82-89
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• 2014

This paper discusses the methods for reducing the sampling time quantization errors of the body dither type ring laser gyroscope. A ring laser gyroscope has the angle quantization error which is generated by the frequency counting method of the laser beat signal and sampling time quantization error which is generated by the demodulation method for eliminating the body dithering in which the sampling periods are fitted to the dither periods. Generally, because the dither periods are longer than the calculation periods of the inertial navigation system, vehicle navigation errors are produced by long time attitude update missing during the vehicle move with a high dynamical motion. In this paper, the double demodulation method is proposed for reducing the sampling time quantization error and its effects under the dynamic situation are confirmed by simulation.

• Journal of the Korean Association of Geographic Information Studies
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• v.10 no.1
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• pp.1-9
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• 2007

3D data are in great demand for pedestrian navigation recently. For pedestrian navigation, we needs to reconstruct 3D model in detail from people's eye. In order to present spatial features in detail for pedestrian navigation, it is indispensable to develop 3D model not only in outdoor environment but also in indoor environment such as underground shopping complex. However, it is very difficult to acquire 3D data efficiently by mobile mapping without GPS. In this research, 3D shape was acquired by Laser scanner, and texture by CCD(Charge Coupled Device) sensor. Continuous changes position and attitude of sensors were measured by IMU(Inertial Measurement Unit). Moreover, IMU was corrected by relative orientation of CCD images without GPS(Global Positioning System). In conclusion, Reliable, quick, and handy method for acquiring 3D data for indoor environment is proposed by a combination of a digital camera and a laser scanner with IMU.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.2
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• pp.189-196
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• 2019

The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.11
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• pp.921-933
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• 2018

There is a method to enhance the pure navigation performance of INS(Inertial Navigation System) through the rotation of inertial measurement unit to compensate error sources of inertial sensors each other and that INS using this principle of operation is called rotational INS. In this paper, the exact error analysis of rotational INS based on ring laser gyro considering the coupling effect with gravity and earth rate is performed to evaluate the navigation performance by inertial sensor error sources. And error analysis and performance evaluation result confirmed by modelling and simulation is also proposed in this paper.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.129-132
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• 2000

Perdeuterated hexaflouroacetyIacetonato-ytterbium $[Yb(HFA-D)_3]$ complexes were synthesized by the keto-en01 tautomerism reaction of $Yb(HFA-D)_3$ in methanol-$d_4$ in order to reduce the radiationless transition to the ligands. The luminescence properties of $Yb(HFA-D)_3$ complex were measured in the following anhydrous deuterated organic solvents ; Acetone-$d_6$, Methanol -$d_4$, THF-$d_6$, PO$(OHC_3)_3$ and DMSO-$d_6$. The intensity, lifetime and quantum efficiency of the luminescence in DMSO-$d_6$ were superior to those in other deuterated solvents. It was suggested that the anhydrous DMSO-$d_6$ might be the most appropriate solvent for the liquid laser material of $Yb(HFA-D)_3$ complex.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.667-672
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• 2011

This paper presents to study the sensor fusion of positioning sensors using UKF(unscented Kalman filter) for positioning accuracy improvement of AGV(automatic guided vehicle). The major guidance systems for AGV are wired guidance and magnetic guidance system. Because they have high accuracy and fast response time, they are used in most of the FMS(flexible manufacturing system). However, they had weaknesses that are high maintenance cost and difficult of existing path modification. they are being changed to the laser navigation in recent years because of those problems. The laser navigation is global positioning sensor using reflecters on the wall, and it have high accuracy and easy to modify the path. However, its response time is slow and it is influenced easily by disturbance. In this paper, we propose the sensor fusion method of the laser navigation and local sensors using UKF. The proposed method is improvement method of accuracy through error analysis of sensors. For experiments, we used the axle-driven forklift AGV and compared the positioning results of the proposed method with positioning results of the laser navigation. In experimental result, we verified that the proposed method can improve positioning accuracy about 16%.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.291-292
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• 2008

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.36-39
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• 2000

A small electrical potential difference which appears on any solid body when subjected to illumination by a modulated light beam generated by laser is called photocharge voltage(PCV)[1,2]. This voltage is proportional to the induced change in the surface electrical charge and is capacitatively measured on various materials such as conductors, semiconductors, ceramics, dielectrics and biological objects. The amplitude of the detected signal depends on the type of material under investigation, and on the surface properties of the sample. In photocharge voltage spectroscopy measurements[3], the sample is illuminated by both a steady state monochromatic bias light and the pulsed laser. The monochromatic light is used to created a variation in the steady state population of trap levels in the surface and space charge region of semiconductor samples which does result in a change in the measured voltage. Using this technique the spatial variation of PCV can be utilized to evalulate the surface conditions of the sample and the variation of the PCV due to the monochromatic bias light are utilized to charactrize the surface states. A qualitative analysis of the proposed measuremen is present along with experimental results performed on amorphous silicon samples. The deposition temperature was varied in order to obtain samples with different structural, optical and electronic properties and measurements are related to the defect density in amorphous thin film.