• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.221-227
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• 2002

In this paper, the system model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. WNS(Walking Navigation System) is a kind of personal navigation system using the number of a walk, stride and azimuth. Because the accuracy of these variables determines the navigation performance, computational methods have been investigated. The step is detected using the walking patterns, stride is determined by neural network and azimuth is calculated with gyro output. The neural network filters off unnecessary motions. However, the error compensation method is needed, because the error of navigation information increases with time. In this paper, the accumulated error due to the step detection error, stride error and gyro bias is compensated by the integrating with GPS. Loosely coupled Kalman filter is used for the integration of WNS and GPS. It is shown by simulation that the error is bounded even though GPS signal is blocked.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2359-2361
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• 2000

This paper presents a practical method of realizing Differential GPS(DGPS) using an effective communication link. The DGPS technique is used to correct user's pseudorange measurements with trasmintted correction data from the reference station. An effective communication system is the key element for successful application of the DGPS. In this paper, a practical method for efficient data communication link for DGPS using mobile phone and TCP/IP protocol is presented. Its performance is verified via field test.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.2
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• pp.101-108
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• 2005

Inertial Navigation System has been used extensively to determine the position, velocity and attitude of the body. An INS is very expensive, however, heavy, power intensive, requires long setting times and the accuracy of the system is degraded as time passed due to the accumulated error. Global Positioning System(GPS) receivers can compensate for the Inertial Navigation System with the ability to provide both absolute position and attitude. This study describes a method to improve both the accuracy of a body positioning and the precision of an attitude determination using GPS antenna array. Existing attitude determination methods using low-cost GPS receivers focused on the relative vectors between the master and the slave antennas. Then the positioning of the master antenna is determined in meter-level because the single point positioning with pseudorange measurements is used. To obtain a better positioning accuracy of the body in this research, a wireless internet is used as an alternative data link for the real-time differential corrections and dual-frequency GPS receivers which is expected to be inexpensive was used. The numerical results show that this system has the centimeter level accuracy in positioning and the degree level accuracy in attitude.

• Journal of Advanced Navigation Technology
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• v.15 no.4
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• pp.523-535
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• 2011

The precipitable water vapor (PW) was estimated using Global Navigation Satellite System (GNSS) from several GNSS stations within the Korean Peninsula. Nearby radiosonde sites covering the GNSS stations were used for the comparison and validation of test results. GNSS data recorded under typical and severe weather conditions were used to generalize our approach. Based on the analysis, we have confirmed that the derived PW values from the GNSS observables were well agreed on the estimates from the radiosonde observables within 10 mm level. Assuming that the GNSS observables could be a good weather monitoring tool, we further tested the performance of the current WAAS tropospheric delay model, UNB3, in the Korean Peninsula. Especially, the wet zenith delays estimated from the GNSS observables and from UNB3 delay model were compared. Test results showed that the modelled approach for the troposphere (i.e., UNB3) did not perform well especially under the wet weather conditions in the Korean Peninsula. It was suggested that a new model or a near real-time model (e.g., based on regional model from GNSS or numerical weather model) would be highly desirable for the Korean WA-DGNSS to minimize the effects of the tropospheric delay and hence to achieve high precision vertical navigation solutions.

• Journal of Navigation and Port Research
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• v.40 no.6
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• pp.385-390
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• 2016

ELoran Systems can provide Position, Navigation, and Time services with comparable performance to Global Positioning Systems (GPS) as a back up or alternative system. High timing and navigation performance can be achieved by eLoran signals because eLoran receivers use "all-in-view" reception. This incorporates Time of Arrival (TOA) signals from all stations in the service range because each eLoran station is synchronized to Coordinated Universal Time (UTC). Transmission station information and the differential Loran correction data are transmitted via an additional Loran Data Channel (LDC) on the transmitted eLoran signal such that eLoran provides improved Position Navigation and Timing (PNT) over legacy Loran. In this paper, we propose a technique for adapting the delay time compensation values in eLoran timing receivers to provide precise time comparison. For this purpose, we have designed a system that measures time delay from the crossing point of the third cycle extracted from the current transformer at the end point of the transmitter. The receiver delay was measured by connecting an active H-field, an E-field and a passive loop antenna to a commercial eLoran timing receiver. The common-view time transfer technique using the calibrated eLoran timing receiver improved the eLoran transfer time. A eLoran timing receiver calibrated by this method can be utilized in the field for precise time comparison as a GNSS backup.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.579-584
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• 2017

SBAS is a satellite based navigation correction system that provides correction information and integrity information of GNSS signal through geostationary satellite based on analysis of GNSS signal in ground station. KASS, a Korean SBAS, is aiming at the APV-1 class SoL service in 2022. Sufficient ground and flight tests must be performed in advance to provide SoL services. However, since KASS, the Korean SBAS, has not yet been added in Korea, specific detailed evaluation items are not presented. EGNOS, which is expected to be the most compatible with KASS and is being serviced after its development, has already been evaluated. In this paper, we analyze the regulations applied to EGNOS construction and analyze the criteria of ground and flight test evaluation items required for flight testing, which is expected to be referenced to the flight inspection process in the future.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.584-591
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• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.2
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• pp.97-104
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• 2015

Due to the introduction of various IT devices, including the recently smartphones and the widespread use of the car navigation system to the location-based information service space has been increased. Spatial information users have been requiring higher levels of quality. In this paper, we study how to build accurate three-dimensional space information by integrating MMS(Moblie Mapping System) survey and airborne survey data. Thus, to analyze the tendency of deviation between the MMS survey and airborne survey data observed in the experimental region, the deviation tendency of the data, it was confirmed that was not consistent. Deviation correction model to select how to change the georeferencing information directly contained in the GPS/INS processing results for the determination, classifies the standard is a method for acquiring the correction reference point coordinates using the calibration model, and analyzed their advantages and disadvantages. With the information of the reference point obtained by airborne photograph of a project, using the method of correcting the MMS survey data. Not only clear the deviation existing between the MMS survey data, it was possible to confirm that the deviation exists between the airborne survey data and MMS survey data was also almost erased.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.1-8
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• 2004

The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.

• Journal of Korea Game Society
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• v.10 no.6
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• pp.157-168
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• 2010

A terrain is an essential element for constructing a virtual world in which game characters and objects make various interactions with one another. Creating a terrain requires a great deal of time and repetitive editing processes. This paper presents a 3D terrain reconstruction system to create 3D terrain in virtual space based on real terrain data. In this system, it converts the coordinate system of the height maps which are generated from a stereo camera and a laser scanner from global GPS into 3D world using the x and z axis vectors of the global GPS coordinate system. It calculates the movement vectors and the rotation matrices frame by frame. Terrain meshes are dynamically generated and rendered in the virtual areas which are represented in an undirected graph. The rendering meshes are exactly created and updated by correcting terrain data errors. In our experiments, the FPS of the system was regularly checked until the terrain was reconstructed by our system, and the visualization quality of the terrain was reviewed. As a result, our system shows that it has 3 times higher FPS than other terrain management systems with Quadtree for small area, improves 40% than others for large area. The visualization of terrain data maintains the same shape as the contour of real terrain. This system could be used for the terrain system of realtime 3D games to generate terrain on real time, and for the terrain design work of CG Movies.