• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.579-580
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• 2016

본 연구에서는 군집 로봇 체계에서 next-best-view(NBV)의 결정과 경로 계획(path planning)을 동시에 수행하는 효율적인 3차원 탐사 알고리즘을 제안한다. NBV 결정 및 경로 계획을 동시에 수행하는 단일 로봇 탐사 알고리즘에는 최근에 제안된 RH-NBVP[1]가 있다. 우리는 각 로봇에게 효율적으로 탐사 영역을 분배하는 Voronoi-biased multi-RRTs(VB-MRRTs)를 제시하며, 이를 통해 군집 로봇 체계에 RH-NBVP를 적용한다. 제시한 VB-MRRTs가 공간을 얼마나 점유하는지 분석하였으며, 3차원 시뮬레이션 상의 군집 로봇 체계에서 VB-MRRTs가 적용된 RH-NBVP의 탐사율 향상을 확인하였다.

• Proceedings of the KSRS Conference
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• 2009.03a
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• pp.105-110
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• 2009

현재 NASA에서 제공되는 MODIS 지표반사율자료(MOD09)는 MODIS영상을 이용한 각종 주제자료들의 중요한 입력 자료로 사용되고 있으며, MODIS 지표반사율 자료에 대한 객관적인 검증연구가 필요한 실정이다. 따라서 본 연구에서는 MOD09의 검증관련 초기 연구로서, 남한에 분포하는 불변성 타겟(invariant target)을 대상으로 2006년 일별 250m MODIS 지표반사율자료(MOD09GQK)자료의 객관적 검증을 시도하였다. 우선, MOD09 QA(Quality Assurance)자료를 이용하여 구름의 영향을 받은 화소를 제거한 후, 수치지도와 토지피복도를 이용하여 정의한 불변성 타겟에 해당되는 MOD09영상의 화소값을 추출하였다. 이와 같이 추출된 시계열 MOD09GHK영상의 화소값에 1차 회귀분석을 적용하여 이상 반사율 값을 탐지하고, 그 원인을 분석하였다. 검증 결과 나지지역에 대해서 0.0186의 RMSE값이 나타났으며, 인공물의 경우 0.2891의 RMSE값을 보였다. 발생된 이상 화소를 살펴보면, 구름, 그림자, 눈에 영향에 의해 발생한 것도 있으며, 원인을 알 수 없는 이상 화소들도 분포하였다. 향후 연구에서는 한반도 전역의 MODIS 시계열 반사율영상을 대상으로 MODIS 대기보정알고리즘과 입력인자의 적합성을 판단하기 위한 연구를 진행할 예정이다.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2002.04a
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• pp.147-148
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• 2002

기상과 환경 분야에서 원격 탐사의 중요성이 부각되고 있다. 레이저를 사용하여 원격 탐사를 수행하는 라이다는 대기 중으로 쏘아올린 레이저 빛이 대기 중 에어러솔이나 기체 분자에 의해 후방산란 된 신호를 측정한다(원재광, 1998). 이러한 라이다를 응용하여 탐지 대상의 공간적 분포와 연속적인 탐사를 통한 시간 변화를 획득할 수 있다. 극저출력(/고반복율) 레이저를 사용하여 망막안전을 보장하고 스캔시스템과 결합된 마이크로 펄스 라이다가 국내기술로 개발되어 에어러솔 관측에 활용되었으며, 향후 여러 분야에서 응용될 것으로 기대된다. (중략)

• Geophysics and Geophysical Exploration
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• v.25 no.2
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• pp.85-92
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• 2022

An elongated object in one direction can be approximated as a line segment. Here, the closed-form expressions of a line segment's vector magnetic and magnetic gradient tensor are required to interpret responses by a line segment. Therefore, the analytical expressions of the vector magnetic and magnetic gradient tensor are derived. The vector magnetic is converted from the existing gravity gradient tensor using Poisson's relation where the gravity gradient tensor caused by a line segment can be transformed into a vector magnetic. Then, the magnetic gradient tensor is derived by differentiating the vector magnetic with respect to each axis in the Cartesian coordinate system. The synthetic total magnetic data simulated by an iron pile on boreholes are inverted by a nonlinear inversion process so that the physical parameters of the iron pile, including the beginning point, the length, orientation, and magnetization vector are successfully estimated.

• Geophysics and Geophysical Exploration
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• v.14 no.1
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• pp.88-97
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• 2011

We present a method for modelling the terrain response of gravity gradiometry surveys utilising an adaptive quadtree mesh discretization. The data- and terrain-dependent method is tailored to provide rapid and accurate terrain corrections for draped and barometric airborne surveys. The surface used in the modelling of the terrain effect for each datum is discretized automatically to the largest cell size that will yield the desired accuracy, resulting in much faster modelling than full-resolution calculations. The largest cell sizes within the model occur in areas of minimal terrain variation and at large distances away from the datum location. We show synthetic and field examples for proof of concept. In the presented field example, the adaptive quadtree method reduces the computational cost by performing 351 times fewer calculations than the full model would require while retaining an accuracy of one E$\"{o}$tv$\"{o}$s for the gradient data. The method is also used for the terrain correction of the gravity field and performed 310 times faster compared with a calculation of the full digital elevation model.

• Geophysics and Geophysical Exploration
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• v.6 no.1
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• pp.23-27
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• 2003

A magnetic survey on the lake war carried out to explore the possible UXO (unexploded ordnance) under the water. A magnetic gradiometer with 2 magnetometer sensors was used, which measures total magnetic intensity. For the positioning of the measurement points on the water, RTK (real time kinematic) survey system was used. The theoretical responses were calculated assumming the dimension and the material of the UXO so that the detectability could be investigated. Since the areal size of the survey vessel was rather small, the influence from the magnetic material of the vessel and the other equipments such as a laptop computer was not negligible, and the influence did not remain constant during the survey due to the change of survey direction. These effects were reduced remarkably using moving average technique. The result reveals the lineament of a pipe line laid on the bottom of the lake, which can be regarded as an indirect proof of detectability of the method.

• Geophysics and Geophysical Exploration
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• v.23 no.2
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• pp.67-71
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• 2020

In this study, we derive closed-form expressions of magnetic gradient tensor due to a circular cylinder. Because the expression for magnetic field has been derived in a previously conducted study, expressions are developed for the magnetic gradient tensor based on the derivatives of the expressions of magnetic field with respect to the variables of the Cartesian coordinates. Furthermore, expressions are derived for the magnetic gradient tensor based on the relations between the Cartesian and cylindrical coordinates in the derivative because the expression for magnetic field contains variables of cylindrical coordinates owing to its axial symmetry.

• Geophysics and Geophysical Exploration
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• v.25 no.1
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• pp.44-49
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• 2022

Closed-form expressions of vector gravity and gravity gradient tensor based on a line segment are derived. If a cylindrical object with axial symmetry is observed from a distance, it is possible to approximate it as a line segment; therefore, it is necessary to compute the gravity and the gravity gradient tensor due to a line source by using closed-form expressions. The gravitational potential for a line segment is defined as a one-dimensional integral, and this integral is differentiated with respect to the Cartesian coordinate system to derive the vector gravity. The expressions of the gravity gradient tensor are derived by differentiating the vector gravity once more in the same coordinate system.

• Journal of the Korean earth science society
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• v.38 no.4
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• pp.251-262
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• 2017

The system of magnetic exploration with a drone flight was constructed and applied to the iron mine site. The magnetic probe system installed on the drone used a sensor as Bartington's fluxgate type magnetometer, Mag639 and the A/D converter to collect magnetic intensity values on the tablet PC. The drone flight control module is a highly expandable Pixhawk with allowing 15 minutes of flight by loading 3kg. Experiments on the magnetic field interference range were performed to remove the erroneous effect from the drone with applying RTK GPS to obtain the magnetic intensity value at the accurate position. The accurate location information enabled to obtain the gradient measurement of magnetic field by measuring twice at different altitudes. Also, by using the terrain information, we could eliminate the terrain effect by setting the flight path to fly along the terrain. These results are in line with the field experiments using the nuclear proton magnetometer G-858 of Geometrics Co., Ltd, which adds to the reliability of the drone based aeromagnetic survey system we constructed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.40 no.2
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• pp.109-118
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• 2022

GPR (Ground Penetrating Radar), developed as a technology for geotechnical investigations such as sinkhole exploration, was used limitedly as a method to resolve undetectable lines in underground facility exploration. To improve the accuracy of underground facility data, the government made it possible to explore underground facilities using a non-metallic pipeline probe from July 2022. However, GPR has a problem in that the exploration rate is lowered in the soil with high moisture content, such as soft soil, such as clay layer, and there is a lot of variation in long-term accuracy. In this study, as a way to improve the accuracy of exploration considering the characteristics of GPR and the environment of underground facilities, we propose a GPR exploration method for underground facilities using permittivity constant correction and pattern analysis of GPR image data. Through this study, the accuracy of underground facility exploration and high reproducibility were derived as a result of field verification applying GPR frequency band and heterogeneous GPR.