• Journal of Digital Convergence
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• v.13 no.1
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• pp.297-304
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• 2015

Recently, the demand for a PRT(Personal Rapid Transit) system based on autonomous navigation is increasing. Accordingly, the applicability investigations of the PRT system on rail tracks or roadways have been widely studied. In the case of unmanned vehicle operations without physical guideways on roadways, to monitor the position of the vehicle in real time is very important for stable, robust and reliable guidance of an autonomous vehicle. The Global Positioning System (GPS) has been commercially used for vehicle positioning. However, it cannot be applied in environments as tunnels or interiors of buildings. The PRT navigation system based on magnetic markers reference sensing that can overcome these environmental restrictions and the vehicle dynamics model for its H/W configuration are presented in this study. In addition, the design of a control S/W dedicated for unmanned operation of a PRT vehicle and its prototype implementation for experimental validation on a pilot network were successfully achieved.

• Journal of Navigation and Port Research
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• v.45 no.1
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• pp.26-32
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• 2021

In ocean field, the spread of the Fourth Industrial Revolution based on information and communication technology requires high precision and stable PNT&D (Position, Navigation, Timing and Data). As the IMO (International Maritime Organization) and IALA (The International Association of Marine Aids to Navigation and Lighthouse Authorities) are requiring backup systems due to mitigate vulnerabilities and the increase of dependency on GNSS (Global Navigation Satellite System), Korea is conducting a research & development of R-Mode. An DGPS (Differentiate Global Positioning System) reference station that uses MF, an existing maritime infrastructure, and AIS (Automatic Identification System) base stations that use 34 integrity station and VHF will be utilized in this study to avoid redundant investment. Because there are radio shadow areas that display low signal levels in the west sea, the establishment of new R-Mode reference and integrity station will be intended to resolve problems regrading the radio shadow area. Because the frequency has a characteristic in that radio wave transmits well along the ground (water surface) in low frequency band, simulation and measurement were conducted therefore this paper to propose candidate sites for R-Mode reference and integrity station resulted through p wave's propagation characteristics analysis. Using this paper, R-Mode reference and integrity station can be established at appropriate locations to resolve radio shadow areas in other regions.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.308-309
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• 2016

This paper deals with ship's track keeping methods which is crucial part of automatic navigation control systems. In this paper, we mainly discuss the performance of different guidance methods including way point guidance, enclosure-based steering guidance and lookahead-based steering guidance system. As a controller, a PID control system is employed to control ship's rudder angle during track-keeping. Finally, the performance of three methods are discussed through some simulation results.

• Current Industrial and Technological Trends in Aerospace
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• v.4 no.2
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• pp.55-67
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• 2006

20세기에 탄생한 동력비행기는 인간의 이동능력을 비약적으로 향상시켰다. 인류의 미개척지였던 항공분야의 발전은 지속적인 기술개발을 통해 더 빨리, 더 멀리, 더 높이 향하기 위해서 계속 나아가고 있다. 이러한와중에 최근에 괄목할 만한 성장을 이룬 컴퓨터와 소프트웨어 산업의 발전은 비행임무에 따라 위험성이 높거나, 사람이 하기 힘든 반복적이고 지루한 비행을 대신하기위한 로봇 비행체 즉, 무인항공기의 개발을 가능하게 하였다. 무인항공기의 탄생 초기에는 조종사의 희생을 줄이기 위해 군사 분야에서 주로 사용되었으나, 산림감시나 해안정찰, 기상관측, 재난관측, 조난자 수색 등 민수분야의 임무로 점차 활동영역이 넓혀지고 있다. 현재 무인항공기에 탑재된 인공지능의 수준은 안정된 비행이 가능하도록 하는 자동조종(autopilot)과 주어진 비행경로를 추종하기위한 항법유도(Navigation & Guidance)정도이며, 비행 중 발생하는 비상상황에 대처하기 위한 의사판단은 지상의 조종자에 의해 결정된다. 앞으로는 계획되지 않은 상황을 맞이했을 때 무인기 스스로 판단하여 경로를 변경하고, 동시에 여러 무인기들과 협력하여 임무를 수행함으로써 임무효율을 높이는 방향으로 인공지능의 수준이 향상될 것이다. 본 논문에서는 최근의 무인항공기 개발추세와 이들 무인기에 고려되고 있는 제어기에 대해 살펴보고, 향후 무인항공기에 적용될 자율비행 알고리듬과 제어기 시스템의 개발동향에 대해 고찰하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.76-84
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• 2003

Now days, It is based on GIS and GPS, it can search for the shortest path and estimation of arrival time by using the internet and cell phone to driver. But, even though good car navigation system does not create which is the shortest path when there average vehicle speed is 10 -20 Km. Therefore In order to reduce vehicle waiting time and average vehicle speed, we suggest optimal green time algorithm using fuzzy adaptive control, where there are different traffic intersection length and lane. In this paper, it will be able to forecast the optimal traffic information, estimation of destination arrival time, under construction road, and dangerous road using internet.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1342-1347
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• 1997

In this paper, we performed simulations of aircraft automatic landing using GPS, DGPS and CDGPS. Our purpose is examining the possibility of aircraft landing using GPS through the simulation results. The aircraft landing is composed of two stages, glide-slope and flare. Therefore, LQG controllers are designed separately. In simulations, measurement noise depends not only on UERE and UERRE(which have different values in GPS, DGPS, and CDGPS) but also on DOPs. DOPs are determined only by the geometry of GPS satellite constellation. For DOP calculation, we also made program for GPS satellites orbit simulatiion. Accordin to the simulation results, ICAO CAT III can be achieved of CDGPS is used.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.12 no.3
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• pp.65-85
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• 2004

Circling to land is a relatively dangerous maneuver. It contains the worst elements of IFR flight. There is a minimum obstruction clearance, a limited space in which to maneuver, an absence of visual reference, and trying to keep the runway in sight while preparing to land. At night it is quite a bit more than dangerous. The required continuous turn in marginal conditions that keeps the airport in sight is hazardous. Therefore, this paper proposes an application of GNSS to circling approach to reduce or remove chances of accidents which may occur under such unfavorable flight conditions. The study reviews relevant documents published by ICAO and FAA and provides scenarios for non-precision and precision approaches and circling approach based on the GNSS for Kimhae airport. Also requirements for the ground facility design are studied and provided.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.339-340
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• 2008

로봇의 현재 위지 추적은 무인 로봇 자동 항법시스템의 중요 기술로 센서 데이터로부터 로봇의 위치를 결정하고 환경맵을 구성하는 것이다. 기존 방법으로는 초음파, 레이저 등의 거리 측정 센서를 이용해 로봇의 전역 위치를 찾는 방법과 스테레오 비전을 통한 방법이 개발되었다. 거리 측정 센서만으로 로봇위치 추적 알고리즘은 계산량이 감소하고 비용이 적게 들지만 센서오차율 및 환경장애에 따른 오류가 크다. 이에 반해 스테레오 비전 시스템은 3차원 공간영역을 정확히 측정할 수 있지만 계산량이 많아 고사양의 시스템을 요구하고 알고리즘 구현에 어려움이 있다. 따라서 본 논문에서는 단일 카메라 영상과 PSD(position sensitive device) 센서를 사용하여 로봇의 현재 위치를 추적하고 환경맵을 구성하여 자율이동이 가능한 시스템을 제안한다.

• Journal of Fisheries and Marine Sciences Education
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• v.19 no.3
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• pp.510-516
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• 2007

The efficiency of magnetic compass direction sensor and magnetic compass by the laboratory experiment for the apparatus of generating artificial magnetic force and the onboard experiment on the fishing boat of coastal pot at the outside of Pusan Namhang were investigated. The results showed that the bearing angle of magnetic compass direction sensor was coincided with that of magnetic compass. However, the performance of magnetic compasses was unsuitable under the ISO rule by the characteristic experiment of damping curve. Therefore, the use of autopilot system using magnetic compass direction sensor which is based on the magnetic compass needs the sufficient notice.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.105-106
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• 2015

무인 자율 자동차는 사람이 차량 제어에 개입할 수 있는 일반적인 '무인 자동차'와는 달리 센서, 메라와 같은 '장애물 인식장치'와 GPS모듈 과 같은 '자동 항법 장치'를 기반으로 조향, 변속, 가속, 브레이크를 도로환경에 맞춰 스스로 제어해 목적지까지 주행할 수 있는 차량을 의미한다. 따라서 무인 자율 주행 자동차에는 차량제어기술, 차선인식기술, 충돌 회피 기술 등이 필요 하며 이를 위해 각종 센서뿐만 아니라 센서 네트워크, 컴퓨터비전, 인공지능 등의 다양한 기술들이 접목되어야 한다. 본 논문은 소형 무인자동차의 제작을 통한 알고리즘과 그 평가에 대해서 나타낼 것이다.