• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.2
• /
• pp.180-187
• /
• 2010

In this paper, a GNSS-based AGV system was designed, and steering tested on a golf cart using electric wires in order to confirm the control efficiency of the low speed vehicle which used only position information of GNSS. After analyzed the existing AGVs system, we developed controller and steering algorithm using GNSS based position information. To analyze the performance of the developed controller and steering algorithm, straight-type and circle-type trajectory test are executed. The results show that steering performance of GNSS-based AGV system is ${\pm}\;0.2m$ for a reference trajectory.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.23 no.4
• /
• pp.22-29
• /
• 2015

Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.4
• /
• pp.274-282
• /
• 2019

Vision-based navigation of unmaned aerial vehicle is a significant technology that can reinforce the vulnerability of the widely used GPS/INS integrated navigation system. However, the existing image matching algorithms are not suitable for matching the aerial image with the database. For the reason, this paper proposes particle filters using Gaussian mixture models to deal with matching between aerial image and database for vision-based navigation. The particle filters estimate the position of the aircraft by comparing the correspondences of aerial image and database under the assumption of Gaussian mixture model. Finally, Monte Carlo simulation is presented to demonstrate performance of the proposed method.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2011.11a
• /
• pp.544-547
• /
• 2011

This paper describes on hardware simulation of passive power control of propulsion system for electric propulsion aircraft of KARI. The propulsion system uses hybrid power system that is composed of solar cell, fuel cell and battery. The fuel cell is replaces by simulator due to its difficulty in handling while the other components are the same as that will be used on board. As the result, reliable power supply for propulsion is confirmed and each power source is well operated showing its characteristics.

• Journal of Korean Society for Geospatial Information Science
• /
• v.14 no.1 s.35
• /
• pp.75-83
• /
• 2006

Satellite imagery is generally used for investigating the damage from natural disaster for wide area and remotely piloted vehicle or aerial photos are used for the local damage. But for more detailed information such as damages of public facilities, these methods are inadequate and so in this case field surveying has been carried out. We tried to estimate the damage of public facilities faster and more accurately using photogrammetric method. We developed a digital stereo camera system by fixing two digital cameras on a frame, and with this system the photos of actually damaged areas were collected. The damages were estimated from these stereo photos. Then the estimated data was compared with field surveying data in order to verify our system.

• Korean Journal of Remote Sensing
• /
• v.31 no.3
• /
• pp.215-226
• /
• 2015

Normally, aero photography using UAV uses about 430 MHz bandwidth radio frequency (RF) modem and navigates and remotely controls through the connection between UAV and ground control system. When using the exhausting method, it has communication range of 1-2 km with frequent cross line and since wireless communication sends information using radio wave as a carrier, it has 10 mW of signal strength limitation which gave restraints on life my distance communication. The purpose of research is to use communication technologies such as long-term evolution (LTE) of smart camera, Bluetooth, Wi-Fi and other communication modules and cameras that can transfer data to design and develop automatic shooting system that acquires images to UAV at the necessary locations. We conclude that the android based UAV filming and communication module system can not only film images with just one smart camera but also connects UAV system and ground control system together and also able to obtain real-time 3D location information and 3D position information using UAV system, GPS, a gyroscope, an accelerometer, and magnetic measuring sensor which will allow us to use real-time position of the UAV and correction work through aerial triangulation.

• Journal of Advanced Navigation Technology
• /
• v.20 no.6
• /
• pp.574-579
• /
• 2016

Unlike general unmanned aerial vehicles, the quad-rotor is attracting the attention of many people because of simple structure and very useful value. However, as the interest in drones increases, the safety and location of vehicles are becoming more important provide against aviation safety accidents or lost accidents. Therefore, in this paper, we propose a tracking system that stabilizes the model with a simple controller by linearized modeling and grasp tilt angle data from various sensor through the filter. The developed tracking system transmits the position of the quad-rotor in flight to the computer and shows it through the route, so it can check the flight path and various information such as flight speed and altitude at the same time. Then the sensor used in the actual quad-rotor can not measure exact sensor data for disturbance and vibration. So we use sensor fusion of Kalman filter and Complementary filter to overcome this problem and the stability of the quad-rotor hovering is realized by PID control. Through simulation, various information such as the speed, position, and altitude of the quad-rotor were confirmed in real time.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.6
• /
• pp.523-535
• /
• 2012

Solar powered aircraft are becoming more and more interesting for future long endurance missions at hight altitudes, because they could provide surveillance, earth monitoring, telecommunications, etc. without any atmospheric pollution and hopefully in the near future with competitive costs compared with satellites. However, traditional aircraft sizing methods currently employed in the conceptual design phase are not immediately applicable to solar powered aircraft. Hence, energy balance and constraint analyses were performed to determine how various power system components effect the sizing of a solar powered long endurance aircraft. The primary power system components considered in this study were photovoltaic (PV) modules for power generation and regenerative fuel cells for energy storage. To verify current research results, these new sizing methods were applied to HALE aircraft and results were presented.

• Review of KIISC
• /
• v.22 no.1
• /
• pp.14-19
• /
• 2012

홈랜드 시큐리티는 비군사적 위협으로부터의 국토안보를 의미하며, 정보보호, 물리보안, 무인경비, 산업 및 재해방지시스템 등을 연계하여 사이버 공격, 산업기술 유출 및 국제테러 등에 효과적으로 대응하는 IT 기반의 융 복합 분야를 통칭하고 있다. 홈랜드 시큐리티의 주요 영역은 여러 가지 분류가 가능할 수 있지만, 항공보안, 대량수송보안, 해양보안, 인프라보안, 사이버보안, 국경보안, 대테러 첩보, 비상대응 등으로 구분할 수 있다. 홈랜드 시큐리티의 영역중 사물지능통신이 제한적으로 활용되고 있으며 향후 활용이 확대될 것으로 예상되는 분야 중 하나는 스마트그리드를 포함한 사회기반시설 분야이다. 사회기반시설은 이미 사이버 보안위협에 노출되어 있으며, 향후 사물지능통신이 보편화되면 사회기반시설은 사이버공격의 핵심대상으로 더욱 부각될 것으로 예상된다. 본 고에서는 사회기반시설의 사물지능통신 현황 및 향후 전망을 살펴보고, 사회기반시설에 대한 사이버 보안위협 사례와 대응 현황에 대해서 소개한다.

• Journal of Cadastre & Land InformatiX
• /
• v.48 no.1
• /
• pp.111-121
• /
• 2018

RIn this research, digital elevation models, true-ortho image and 3-dimensional digital complied data was generated and evaluated using unmanned aircraft vehicle stereoscopic images by applying photogrammetric principles. In order to implement stereoscopic vision, digital Photogrammetric Workstation should be used necessarily. For conducting this, in this study GEOMAPPER 1.0 is used. That was developed by the Ministry of Trade, Industry and Energy. To realize stereoscopic vision using two overlapping images of the unmanned aerial vehicle, the interior and exterior orientation parameters should be calculated. Especially lens distortion of non-metric camera must be accurately compensated for stereoscope. In this work. photogrammetric orientation process was conducted using commercial Software, PhotoScan 1.4. Fixed wing KRobotics KD-2 was used for the acquisition of UAV images. True-ortho photo was generated and digital topographic map was partially produced. Finally, we presented error analysis on the generated digital complied map. As the results, it is confirmed that the production of digital terrain map with a scale 1:2,500~1:3,000 is available using stereoscope method.