• Proceedings of the Korean Information Science Society Conference
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• 2001.10b
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• pp.493-495
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• 2001

증강현실은 사용자가 보고 있는 실세계의 영상과 컴퓨터가 생성한 가상의 영상이 실시간으로 합성된 영상을 제공하여 사용자에게 실세계에 대한 이해 및 현실감을 높여 줄 수 있는 기술이다. 증강현실에서 실세계의 대상 물체들과 관련된 부과 정보의 실시간 정합 기술은 매우 중요하다. 따라서 정확한 정합을 위해서 실세계 영상과 부과정보영상의 시절을 실시간으로 측위 하여야 한다. 본 논문은 옥외 실험 환경에서 실시간 정합을 위해 지역 및 전역 트래커의 오차에 대한 보정방법과 지역 및 전역 트래커의 데이터를 이용한 실세계 영상 및 부과 정보 영상의 시점 계산방법을 소개한다.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.595-602
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• 2008

In this paper, performance of the initial alignment for INS whose attitude is not leveled is investigated. Observability of the initial alignment filter is analyzed and estimation errors of the estimated state variables are derived. First, the observability is analyzed using the rank test of observability matrix and the normalized error covariance of the Kalman filter based on the 10-state model. In result, it can be seen that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and the non-leveling tilt angles of a vehicle containing the INS. Especially, this paper shows that the larger the tilt angles of the vehicle are, the larger the estimation errors corresponding to the sensor biases are. Finally, it is shown that the performance of the 8-state model excepting the accelerometer biases on horizontal axes is better than that of the 10-state model in the initial alignment by simulation.

• Journal of Korean Society of Transportation
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• v.30 no.5
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• pp.61-69
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• 2012

It is important for highway maintenance and safety assessment to get the accurate highway geometric information. However, it is difficult to acquire good highway geometric information due to missing blueprints or deteriorated highway sections. This research, to get highway geometric information rapidly, has developed a highway geometric analysis algorithm that uses data from vehicles with GPS-IMU integrated system. In conclusion, the result shows that 3.38% of error-ratio for the horizontal alignment and 0.083 absolute value difference for vertical grade comparing with highway drawings. Therefore, the result suggest that the developed method can be applied to the road safety inspection or road safety audit.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1312-1317
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• 2013

Pseudolite is a contraction of the term "pseudo-satellite", used to refer to something that is not a satellite which performs a function commonly in the domain of satellites. Pseudolite are most often small transceivers that are used to create a local, ground-based GPS alternative. Pseudo-range measurement of pseudolite has around 300m range error, when time synchronization error of $1{\mu}sec$ occurs. Therefore the time synchronization methods play an important part in navigation augmentation using pseudolite. This paper proposes three clock synchronization methods that are installation method of pseudolite station, method using KRISS-UTC and method using PRN code phase difference for pseudolite. The simulation platform structure is presented for evaluating proposed clock synchronization performance.

• 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 Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.941-946
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• 2011

The Loran-C, a radio navigation system based on TDOA measurements is enhanced to eLoran using TOA measurements instead of TDOA measurements. Many error factors such as PF, SF, ASF, clock errors and unknown biases are included in eLoran TOA measurements. Because these error factors can cause failure in eLoran navigation algorithm, these errors must be compensated for high accuracy eLoran navigation results. Compensation of ASF and unknown biases are difficult to calculate, while the others such as PF and SF are relatively easy to eliminate. In order to compensate all errors in eLoran TOA measurements, a simple GPS aided bias compensation method is suggested in this paper. This method calculates the bias as the difference of TOA measurement and the range between eLoran transmitters and the receiver whose position is determined using GPS. The real data measured in Europe are used for verification of suggested method and navigation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.468-473
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• 2014

This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.3
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• pp.528-533
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• 2005

The purpose of the study is to develop ship's bearing sensor using GPS receiver which can play a role as a ship's secondary compass. In this research, two GPS receivers are used to determine the bearing in real time. Then we investigated the bearing accuracy associated with the error pattern of two GPS receivers. Especially, the results are as follows the investigation on the system design of GPS-Compass, the modeling to compute heading of sailing, the analysis on bearing accuracy with the error pattern, the defining possibility to play a role as a ship's secondary compass.

• Journal of Navigation and Port Research
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• v.27 no.1
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• pp.41-48
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• 2003

The most great GPS is working on CNS(Car navigation System) and Personal terminal, but ocean has not been. First studied GPS is sailing to ship but We have been connivance that The ship is not need detail navigation. Lately, harbor facilities and transportation service in harbors are complication. We have need accurate ship navigation system. In this paper, author developed algorithms of ellipsoid conversion between WGS84 and BESSEL and develope algorithms of map projection between ellipsoid coordinate system, and plane cartesian system. Author used 3-parameter in covering ellipsoids and used TM and UTM projection in converting between ellipsoid and plane cartesian coordinate. And author analyzed errors through static surveying and dynamic surveying of GPS for proving accuracy of GPS sensor, Furthermore author analyzed deflection error of received position. Finally author developed real time ship navigation system using cheep GPS sensor.