• 한국정밀공학회지
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• 제34권3호
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• pp.191-197
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• 2017

Light detection and ranging (LiDAR) is one of the most efficient technologies to obtain the topographic and bathymetric map of coastal zones, superior to other technologies, such as sound navigation and ranging (SONAR) and synthetic aperture radar (SAR). However, the measurement results using LiDAR are vulnerable to environmental factors. To achieve a correspondence between the acquired LiDAR data and reality, error sources must be considered, such as the water surface slope, water turbidity, and seafloor slope. Based on the knowledge of those factors' effects, error corrections can be applied. We concentrated on the effect of the seafloor slope on LiDAR waveforms while restricting other error sources. A simulation regarding in-water beam scattering was conducted, followed by an investigation of the correlation between the seafloor slope and peak timing of return waveforms. As a result, an equation was derived to correct the depth error caused by the seafloor slope.

• Journal of Positioning, Navigation, and Timing
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• 제7권3호
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• pp.165-173
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• 2018

Underwater vehicles use Inertial Navigation System (INS) with high-performance Inertial Measurement Unit (IMU) for high precision navigation. However, when underwater navigation is performed for a long time, the INS error gradually diverges, therefore, an integrated navigation method using auxiliary sensors is used to solve this problem. In terms of underwater vehicles, the vertical axis error is primarily compensated through Vertical Channel Damping (VCD) using a depth gauge, and an integrated navigation filter can be designed to perform horizontal axis error and sensor error correction using a speedometer such as Electromagnetic-Log (EM-Log). However, since EM-Log outputs the forward direction relative speed of the vehicle with respect to the sea and sea current, INS correction filter using this may cause a rather large error. Although it is possible to design proper filters if the exact model of the sea current is known, it is impossible to know the accurate model in reality. Therefore, this study proposes an INS/EM-Log integrated navigation filter with the function to estimate sea current using an Interacting Multiple Model (IMM) filters, and the performance of this filter is analyzed through a simulation performed in various environments.

• Journal of Positioning, Navigation, and Timing
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• 제10권3호
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• pp.189-196
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• 2021

In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.

• Journal of Positioning, Navigation, and Timing
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• 제5권4호
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• pp.213-219
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• 2016

Most existing studies on the wide-area differential global positioning system (WADGPS) employed a grid ionosphere model for error correction in the ionospheric delay. The present study discusses the application of satellite-based ionospheric delay model that provides an error model as a plane function with regard to individual satellites in order to improve accuracy in the WADGPS. The satellite-based ionospheric delay model was developed by Stanford University in the USA. In the present study, the algorithm in the model is applied to the WADGPS system and experimental results using measurements in the Korean Peninsula are presented. Around 1 m horizontal accuracy was exhibited in the existing planar fit grid model but when the satellite-based model was applied, correction performance within 1 m was verified.

• 한국환경과학회지
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• 제28권1호
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• pp.125-135
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• 2019

For the purposes of enhancing usability of Numerical Weather Prediction (NWP), the quantitative precipitation prediction scheme by machine learning has been proposed. In this study, heavy rainfall was corrected for by utilizing rainfall predictors from LENS and Radar from 2017 to 2018, as well as machine learning tools LightGBM and XGBoost. The results were analyzed using Mean Absolute Error (MAE), Normalized Peak Error (NPE), and Peak Timing Error (PTE) for rainfall corrected through machine learning. Machine learning results (i.e. using LightGBM and XGBoost) showed improvements in the overall correction of rainfall and maximum rainfall compared to LENS. For example, the MAE of case 5 was found to be 24.252 using LENS, 11.564 using LightGBM, and 11.693 using XGBoost, showing excellent error improvement in machine learning results. This rainfall correction technique can provide hydrologically meaningful rainfall information such as predictions of flooding. Future research on the interpretation of various hydrologic processes using machine learning is necessary.

• 대한전자공학회논문지SD
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• 제47권8호
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• pp.47-55
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• 2010

본 논문에서는 고해상도 저전력 SAR 타입 ADC(아날로그 디지털 변환기)의 면적을 획기적으로 줄이기 위해서 역 다중화기 (Demultiplexer)와 카운터 (Counter)를 이용하는 타이밍 레지스터 (Timing register) 구조를 제안하였다. 전통적으로 사용되는 쉬프트 레지스터에 기반을 둔 타이밍 레지스터 구조는 해상도가 증가될수록 면적이 급격하게 증가하고, 또한 잡음의 원인이 되는 디지털 소비 전력도 증가되는 반면, 제안하는 구조는 해상도 증가에 따른 에러 보정 회로의 면적과 소비 전력 증가를 줄일 수 있다. 0.18 um CMOS 공정을 이용하여 제작하였으며, 제안한 타이밍 레지스터 구조를 이용하여, 기존 구조 대비 5.4배의 면적 감소와 디지털 전력 최소화의 효과를 얻을 수 있었다. 설계한 12 비트 SAR ADC는 11 비트의 유효 비트 (ENOB), 2 mW (기준전압 생성 블록 포함)의 소비전력과 1 MSPS의 변환 속도를 보였으며, 레이아웃 면적은 $1mm{\times}1mm$ 이었다.

• Journal of Positioning, Navigation, and Timing
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• 제8권4호
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• pp.209-214
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• 2019

Precise point positioning (PPP) requires precise orbit and clock products. International GNSS service (IGS) real-time service (RTS) data can be used in real-time for PPP, but it may not be possible to receive these corrections for a short time due to internet or hardware failure. In addition, the time required for IGS to combine RTS data from each analysis center results in a delay of about 30 seconds for the RTS data. Short-term orbit prediction can be possible because it includes the rate of correction, but the clock correction only provides bias. Thus, a short-term prediction model is needed to preidict RTS clock corrections. In this paper, we used a long short-term memory (LSTM) network to predict RTS clock correction for three minutes. The prediction accuracy of the LSTM was compared with that of the polynomial model. After applying the predicted clock corrections to the broadcast ephemeris, we performed PPP and analyzed the positioning accuracy. The LSTM network predicted the clock correction within 2 cm error, and the PPP accuracy is almost the same as received RTS data.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.45-49
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• 2022

In this paper, we propose a method for estimating the error of the Ultra-Wideband (UWB) distance measurement using the channel impulse response (CIR) of the UWB signal based on machine learning. Due to the recent demand for indoor location-based services, wireless signal-based localization technologies are being studied, such as UWB, Wi-Fi, and Bluetooth. The constructive obstacles constituting the indoor environment make the distance measurement of UWB inaccurate, which lowers the indoor localization accuracy. Therefore, we apply machine learning to learn the characteristics of UWB signals and estimate the error of UWB distance measurements. In addition, the performance of the proposed algorithm is analyzed through experiments in an indoor environment composed of various walls.

• Journal of Positioning, Navigation, and Timing
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• 제7권4호
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• pp.277-284
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• 2018

The Satellite-based Augmentation System (SBAS), as a safety critical system, should be verified on an ongoing basis to ensure the adequate performance. This study proposes two methods to evaluate the performance of SBAS satellite correction. Analysis methods based on precise ephemeris and measurement were applied to present an evaluation method for SBAS satellite correction, and a test was performed based on real data. The precise ephemeris-based analysis method had no limitations on the position of the test user and showed a high precision, enabling an accurate performance analysis in various positions. Although the measurement-based analysis method has the advantage of fast data interval, it showed a relatively lower accuracy due to the effects of various error factors. Compared with the precise ephemeris-based analysis method, there was a large difference of more than 5 m at the beginning of smoothing filter, and a difference less than 50 cm when filtered for more than an hour.

• Journal of Positioning, Navigation, and Timing
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• 제9권2호
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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.