• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.548-549
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• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1973-1980
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• 2017

In the case of a small UUV operating an active synthetic aperture sonar, various velocity disturbances may occur on the path due to the influence of external underwater environment, and this causes phase errors in coherent synthetic aperture processing, which has a large influence on the detected image. In this paper, when a periodic sinusoidal velocity disturbance is generated in the traveling direction, the phase generated by the round trip slope range at each position is estimated the cross correlation coefficient for multiple received signals and compensated the position variation in the overlapped DPC by the average value within the maximum allowable width. Through simulations, it has been confirmed that the images degraded by the velocity disturbance amplitude and fluctuating frequency of the UUV are removed from the false targets and the performance of azimuth resolution is improved by the proposed phase compensation method.

• Journal of Advanced Navigation Technology
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• v.20 no.6
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• pp.528-538
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• 2016

In this paper, an extend kalman filter based relative navigation algorithm is proposed for Link-K based relative navigation. Link-K is a tactical data link system for joint operation capability upgrade of ROK forces. Link-K is inter-operable with Link-16 and transmit and received information of operations and target. In Link-K communication channel, PPLI message including transmitter position and TOA measurement can be used for relative navigation. Therefore Link-K based relative navigation system can be operated. In this paper, software based simulations were carried out for operational feasibility test and performance verification as error factors of proposed Link-K based relative navigation system.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.217-222
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• 2021

EOTS(Electro-Optical Tracking System) is utilized in acquiring visual information to assess a guided missile's performance. As the missile travels so fast, it is almost impossible for operator to re-capture the lost target. The RADAR or telemetry data are used to re-capture the lost target however facilities to receive real time data is required, which constrains selection of tracking site. Unlike aforementioned data, pre-calculated nominal trajectory can be used without communication facility. This paper proposes a method to predict lost target's state by employing nominal trajectory. Firstly, observed trajectory and nominal trajectory are compared using DTW and current target's state is predicted. The predicted state is used as observation in Kalman filter's correction phase to predict target's next state. The plausibility of the proposed method is verified by applying on actual missile trajectory.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.115-121
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• 2024

As the radar mounted on a moving platform moves and rotates, the state of the radar's coordinate system also changes. At this time, in order to track target, the target's coordinates should be converted using the platform state measured from the sensor, and tracking performance may deteriorate due to causes such as sensor noise, communication delay, and sensor update cycle. In this paper, to minimize the degradation of tracking performance because of sensor error, we designed a navigation filter to estimate the state of the moving platform and analyzed the effect of improving tracking performance by applying the navigation filter through a simulation test. To design this navigation filter, three filter algorithms were applied and analyzed to confirm the effect of improving platform position and attitude performance for each filter, and the navigation filter designed by applying the highest performance filter algorithm was applied to a tracking simulation test. Finally we confirmed Improvement in tracking performance before and after applying navigation filters.

• Korean Journal of Remote Sensing
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• v.29 no.4
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• pp.361-373
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• 2013

The monitoring of urban area, target detection and building reconstruction have been actively studied and investigated since high resolution X-band SAR images could be acquired by airborne and/or satellite SAR systems. This paper describes an efficient approach to reconstruct artificial structures (e.g. apartment, building and house) in urban area using high resolution X-band SAR images. Building footprint was first extracted from 1:25,000 digital topographic map and then a corner line of building was detected by an automatic detecting algorithm. With SAR amplitude images, an initial building height was calculated by the length of layover estimated using KS-test (Kolmogorov-Smirnov test) from the corner line. The interferometric SAR phases were simulated depending on SAR geometry and changable building heights ranging from -10 m to +10 m of the initial building height. With an interferogram from real SAR data set, the simulation results were compared using the method of the phase consistency. One of results can be finally defined as the reconstructed building height. The developed algorithm was applied to repeat-pass TerraSAR-X spotlight mode data set over an apartment complex in Daejeon city, Korea. The final building heights were validated against reference heights extracted from LiDAR DSM, with an RMSE (Root Mean Square Error) of about 1~2m.

• Journal of Radiation Protection and Research
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• v.38 no.3
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• pp.143-148
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• 2013

Operational nuclear facilities such as nuclear power plants and particle accelerators show various neutron spectra according to the type of facilities and specific position. Necessities of neutron dose management and neutron monitoring for radiation protection of radiation workers in such a kind of facilities have continuously increased in recent years. Bonner sphere spectrometers are widely used for measurement of neutron spectra. Data on response function of neutron detector, default neutron spectra and count rates of Bonner sphere spectrometer are required to obtain unfolded neutron spectra in specific workplaces. In this study, we carried out measurement of neutron spectra produced in MC50 cyclotron using Bonner sphere spectrometer with LiI scintillation detector. Additionally, we estimated quantitative data on neutron flux, mean neutron energy and ambient dose equivalent rate according to the incident proton energies and positions in MC50 cyclotron.

• Development and Reproduction
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• v.10 no.2
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• pp.85-92
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• 2006

Progesterone(P4) is an important intermediate in the synthesis of androgens and estrogens. Furthermore, P4 itself plays a crucial role in ovulation, atresia and luteinization, and is essential for the continuation of early pregnancy in all mammalian species. In spite of the hormone's physiological importance, the exact action mechanism(s) of P4 in mammalian ovary has not been fully understood yet. In this context, a decades-long controversy regarding the identity of receptors that mediate non-genomic, transcription-independent cellular responses to P4 is presently attracting huge scientific interests. P4 may exert its action in mammalian ovary by several ways: 1) the well-documented genomic pathway, involving hormone binding to so-called classic cytosolic receptor(PGR) and subsequent modulation of gene expression by the ligand-receptor complex as transcription factor. 2) pathways are operating that do not act on the genome, therefore refered to as non-genomic actions. The prominent characteristics of the non-genomic P4 actions are: (i) rapid, (ii) insensitive to transcription inhibitors, (iii) transduced by membrane associated molecules. In particular, the non-genomic P4 actions could be mediated by: (a) classic genomic P4 receptor(PGR) that localizes at or near the plasma membrane, (b) a family of membrane progestin receptors(MPR $\alpha$, MPR $\beta$ and MPR $\gamma$), (c) progesterone receptor membrane component I(PGRMC1), and (d) a membrane complex composed of serpine I mRNA binding protein(SERBP1). The present review summarized these rapid signaling pathways of P4 in the mammalian ovary.

• Geophysics and Geophysical Exploration
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• v.7 no.3
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• pp.164-173
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• 2004

To delineate geothermal water movement at the Pohang geothermal development site, Self-Potential (SP) survey and monitoring were carried out during pumping tests. Before drilling, background SP data have been gathered to figure out overall potential distribution of the site. The pumping test was performed in two separate periods: 24 hours in December 2003 and 72 hours in March 2004. SP monitoring started several days before the pumping tests with a 128-channel automatic recording system. The background SP survey showed a clear positive anomaly at the northern part of the boreholes, which may be interpreted as an up-flow Bone of the deep geothermal water due to electrokinetic potential generated by hydrothermal circulation. The first and second SP monitoring during the pumping tests performed to figure out the fluid flow in the geothermal reservoir but it was not easy to see clear variations of SP due to pumping and pumping stop. Since the area is covered by some 360 m-thick tertiary sediments with very low electrical resistivity (less than 10 ohm-m), the electrokinetic potential due to deep groundwater flow resulted in being seriously attenuated on the surface. However, when we compared the variation of SP with that of groundwater level and temperature of pumping water, we could identify some areas responsible to the pumping. Dominant SP changes are observed in the south-west part of the boreholes during both the preliminary and long-term pumping periods, where 3-D magnetotelluric survey showed low-resistivity anomaly at the depth of $600m\~1,000m$. Overall analysis suggests that there exist hydraulic connection through the southwestern part to the pumping well.