• Journal of Navigation and Port Research
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• v.26 no.3
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• pp.323-328
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• 2002

Soil-steel structures have been used for the underpass, or drainage systems in the road embankment. This type of structures sustain external load using the correlations with the steel wall and engineered backfill materials. Buried flexible conduits made of corrugated steel plates for the coastal road was tested under vehicle loading to investigate the effects of live load. Testing conduits was a circular structure with a diameter of 6.25m. Live-load tests were conducted on two sections, one of which an attempt was made to reinforce the soil cover with the two layers of geo-gird. Hoop fiber strains of corrugated plate, normal earth pressures exerted outside the structure, and deformations of structure were instrumented during the tests. This paper describes the measured static and dynamic load responses of structure. Wall thrust by vehicle loads increased mainly at the crown and shoulder part of the conduit. However additional bending moment by vehicle loads was neglectable. The effectiveness of geogrid-reinforced soil cover on reducing hoop thrust is also discussed based on the measurements in two sections of the structure. The maximum thrusts at the section with geogrid-reinforced soil cover was 85-92% of those with un-reinforced soil cover in the static load tests of the circular structure; this confirms the beneficial effect of soil cover reinforcement on reducing the hoop thrust. However, it was revealed that the two layers of geogrid had no effect on reducing the overburden pressure at the crown level of structure. The obtained values of DLA decrease approximately in proportion to the increase in soil cover from 0.9m to 1.5m. These values are about 1.2-1.4 times higher than those specified in CHBDC.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.26-34
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• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.11
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• pp.965-972
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• 2016

This paper presents results of flight experiments on a navigation algorithm including multiplicative extended Kalman filter for estimating attitude of the guided munition. The filter describes orientation of aircraft by data fusion with low-cost sensors where measurement update is done by multiplication, rather than addition, which is suitable for quaternion representation. In determining attitude from vector observations, the existing approach utilizes a 3-axis accelerometer as a 2-axis inclinometer by measuring gravity to estimate pitch and roll angles, while GNSS velocity is used to derive heading of the vehicle. However, during accelerated maneuvers such as coordinated flight, the accelerometer provides inadequate inclinometer measurements. In this paper, the measurement update process is newly defined to complement the vulnerability by using different vector observations. The acceleration measurement is considered as a result of a centrifugal force and gravity during turning maneuvers and used to estimate roll angle. The effectiveness of the proposed method is verified through flight experiments.

• Journal of Advanced Navigation Technology
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• v.17 no.4
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• pp.404-412
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• 2013

Network RTK is widely used especially for static applications so far, however, the demand for high accuracy positioning for kinetic users such as land vehicles is growing for safety and convenience reasons. Kinematic users move along the roads and the network where they receive corrections can be changed. Compact Network RTK corrections should keep consistency while network change. In this paper, we introduced a method of generating Compact Network RTK corrections considering network ambiguity level adjustment by formulation of corrections. We verified the proposed method for reference station networks across whole country. We also generated Compact Network RTK corrections using simulation and real GPS data from reference stations in South Korea and evaluated performance of users. As a result, the discontinuity between corrections from two networks reduced to 0.25 cycle from several cycles. And user could achieve less than 8 cm (2DRMS) horizontal position accuracy continuously regardless of network change.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.208-217
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• 2016

This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.3
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• pp.25-35
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• 2011

Traffic volume increases due to diversification of industry. Also, Automobile ownerships also increase steadily. It is estimated that the registered number of vehicle is expected to be 20 milion in the year 2015. These trends may result in increasing the number of woman drivers and elderly drivers. Therefore, this study aims to identify routes that reflect characteristics of each driver's preferences. A survey was conducted on different routes attributes for variances drivers. Driver types were classified by gender, age, and driving career. Accordingly, a weight for road composition attribute such as number of lanes, number of accidents, slope was estimated by using Swing Weighting technique in Multi-Attribute Utility Theory. In addition, a case study was conducted and identified weights were applied to routes. In result, drivers commonly prefer short route when they considered their routes. Also, male drivers prefer speedy and shorter route than that of female drivers. Elderly drivers prefer safe routes that represent low accidents rate. Moreover driving career under a year drivers prefer safe and easy routes. Therefore, we may conclude that the necessity of diversified route information is essential in the future car navigation system.

• Journal of Advanced Navigation Technology
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• v.21 no.3
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• pp.251-257
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• 2017

Recently, hybrid positioning system combining GPS, vision sensor, and inertial sensor has drawn many attentions to estimate accurate vehicle positions. Since accurate multi-sensor fusion requires efficient time synchronization, this paper proposes an efficient method to obtain time synchronized measurements of vision sensor, inertial sensor, and OBD device based on GPS time information. In the proposed method, the time and position information is obtained by the GPS receiver, the attitude information is obtained by the inertial sensor, and the speed information is obtained by the OBD device. The obtained time, position, speed, and attitude information is converted to the color information. The color information is inserted to several corner pixels of the corresponding image frame. An experiment was performed with real measurements to evaluate the feasibility of the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.147-153
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• 2002

Due to the growth of population and industrial development at the coastal cities, there has been much increase in necessity to effective control of the wastes into the coastal water and river. The amount of disposal at those waters has been increased rapidly and it is necessary for us to track of it in order to keep the water clean. The investigation and research related to the water quality in this region have been conducted continuously but the systematic survey of the disposed wastes at the bottom was neglected and/or minor. In this study we surveyed the status of disposed waste distribution at the bottom coastal water and river from the scanned images. The intensity of sound received by the side scan sonar tow vehicle from the sea floor provides information as to the general distribution and characteristics of the superficial wastes. The port and starboard side scanned images produced from a transducer borne on a tow fish connected by tow cable to a tug boat have the area with width of 22m∼112m, and band of 44m∼224m. All data are displayed in real-time on a high-resolution color display (1280 ${\times}$ 1024 pixels) together with position information by DGPS. From the field measurement and analysis of the recorded images, we could draw the location and distribution of bottom disposals. Furthermore, we made a database system which might be fundamental for planning the waste reception and process control system.

• Journal of Navigation and Port Research
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• v.26 no.1
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• pp.95-100
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• 2002

The first version of KHCM was Published in 1992 and is currently used in engineering Practice extensively. The study of new manual was initiated by Korea Institute of Construction Technology 1998 and is intended to be ready for publication by the year 2002. According to the field survey, the action of the individual merging vehicle creates turbulence in the vicinity of the ramp-freeway junction area. The purpose of this paper is to develop the model for Predicting the for entering the lanes 1 and 2($V_{12}$) and the density function at the influence zone by comがring the research works on the ramp junction in the USHCM 2000. The methodology has two major steps : the determination of the flow entering Lanes 1 and 2 immediately upstream of the merge influence area: and the density of the flow within the ramp influence area As a result of this paper the specific functions for such models are suggested through the regression analysis of data collected at four freeway fields in Korea.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.821-828
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• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.