• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.2
• /
• pp.443-446
• /
• 2006

INS를 사용하는 지상항법시스템은 GPS 등의 보조 센서와 관계없이 다양한 환경에서 장시간 운용시 항법 성능을 보장하기 위하여 재교정 과정을 거쳐야 한다. 본 논문에서는 이러한 재교정 절차 없이 장시간의 반복적인 사용에도 신뢰할 수 있는 항법해를 제공하기 위한 동작간 교정 기법에 대한 기초 연구를 수행한다. 이를 위하여 지상항법시스템에 나타나는 다양한 운동 특성을 묘사할 수 있는 시뮬레이터를 개발하고, 각 운동 특성에서의 가관측성 해석과 INS와 GPS의 항법 출력 특성을 분석한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.6
• /
• pp.545-550
• /
• 2009

Generally, the smoothing pre-filter of sensor's raw measurement(accelerometer and gyroscope) is used for INS's fast alignment. When the pre-filter is abruptly removed at Navigation-mode entry in vibration environment, INS's initial attitude error can be largely generated. So that we propose initial attitude error reducing methods(monotone increasing of cutoff-frequency, real-time attitude estimation), these are proved by simulation.

• Proceedings of the KIEE Conference
• /
• 2007.07a
• /
• pp.1762-1763
• /
• 2007

본 논문의 목적은 이족 로봇이 스스로의 위치, 속도, 자세 등을 판단할 수 있도록 하기위한 관성항법시스템을 설계하는 것이다. 관성항법시스템은 외부장치의 도움 없이 로봇의 위치, 속도 및 자세 결정이 가능한 독립적인 항법 시스템으로 전파장애나 환경변화에 영향을 받지 않으며, 비교적 정확한 위치정보를 제공한다. 반면 시간이 지남에 따라 오차가 누적된다는 단점이 있으나 좁은 공간에서 단시간 동작하는 이족로봇에 있어 큰 문제가 되지 않는다. 이 관성항법시스템을 이용하여 독립적인 이족 로봇이 위치, 속도 및 자세를 판단 가능하여 보다 지능적인 임무를 수행할 수 있다. 본 연구에서는 관성항법시스템의 구조와 이론적 배경을 통한 설계, 그리고 이족로봇에 적용을 위한 방법을 제시한다.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38C no.12
• /
• pp.1216-1227
• /
• 2013

GNSS(Global Navigation Satellite System) is now being widely used in both civilian and military applications where accurate positioning and timing information are required and it is considered as a representative convergence technique in IT-Military application techniques. However, GNSS has low sensitivity level of GNSS receivers and is vulnerable to jamming signal, since the signals come from the satellite located at approximately 20,000 Km above the earth. The studies for the anti-jamming techniques in military applications have been passively performed in the domestic, because the information related GNSS are dependent on the countries that have GNSS. In this paper, we show the effect of jammer ERP by analyzing the link budget of GPS J/S power as a function of distance between jammer and receiver. Also, we categorize the anti-jamming techniques based on the functional block diagram of GNSS receiver structure and analyze the recent anti-jamming GNSS products and their technologies developed in domestic and foreign countries.

• Journal of Advanced Navigation Technology
• /
• v.20 no.4
• /
• pp.314-320
• /
• 2016

Inertial navigation system (INS) has used aided systems and sensors to compensate navigation error. Global navigation satellite system (GNSS), velocity measurement sensor (VMS), and radar are commonly used to aid INS. Land navigation system (LNS) also mainly uses VMS when GNSS cannot be used such as at tunnel or on jammed scenario. A straight drive is required when VMS-aided navigation is used, because there is only speed of straight direction whereas no crossways and vertical directions. In local environment, even an expressway has lack of straight drive which is constraint of VMS-aided navigation algorithm. This paper proposes an enhanced VMS-aided navigation algorithm for LNS with indirect drive by restricting filter update condition. Also, there is a result of vehicle test to prove performance of the proposed algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.2
• /
• pp.171-178
• /
• 2008

Galileo is the Europe's global navigation satellite system corresponding to the GPS. The GIOVE-A test experiment has been finished and the second test satellite GIOVE-B will be launched soon. The integration of GPS and Galileo lead an increase of visible satellite number. We can obtain an improved navigation performance in signal blocked area such as urban or forest. GPS and Galileo have each time-coordinate system and use the different error model to calculate the navigation solution. In this paper, we studied on GPS and Galileo channel error model and time-coordinate system. Using this result, we implement the integrated navigation algorithm. In simulation, we analyzed the navigation error caused by time and coordinate disagreement and verified performance of integrated navigation algorithm in terms of visible satellite number, DOP(Dilution of Pression) and position error.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.8
• /
• pp.1959-1964
• /
• 2015

This research was focused on the analysis of navigation parameters from the received L1, C/A signal of the recent GPS, which has advanced with the SA policy change and the GPS modernization policy by the United States. It was done as a first step study for a comprehensive analysis on the multiple satellite navigation systems which will be adding or separating GPS signal. In particular, the statistical analysis on the GDOP change and positional accuracy based on the geocentric and spherical coordinate systems were investigated with carrier- to-noise ratio and the satellite geometry, The obtained GDOP values of HDOP, PDOP, VDOP are 0.5, 1.2, and 1.1, respectively in deviation. In addition, the positioning accuracies with these GDOP values were analyzed in the ellipsoidal and ECEF coordinates.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.7
• /
• pp.51-58
• /
• 2005

In 1990, GPS which had been developed for the military purposes became available to the civilian community. Since then these satellite navigation systems have been used extensively in the industrial areas such as car navigation, airplanes, communications, science and surveying. If we are dependent on GPS, however, there are some foreseeable problems in the areas of national security and sovereignty. Current GPS satellite constellation provides limited performance for the country like Korea and Japan where mountain area and urban canyon do not allow the wide skyline. To solve these problems, many countries plan to make other alternative navigation systems.In this paper, RNSS(Regional Navigation Satellite System) is designed to provide communication service with high elevation angle. It is shown, that system does not only have good navigation performance, but also improve GPS performance in Korea and its neighboring areas.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.3
• /
• pp.260-267
• /
• 2007

GPS adapter kit (GAK) is a GPS/INS guided range extension system to improve the accuracy and availability of existing dumb bombs. In this paper, a van test result of GPS/INS navigation module (NM) for guided bomb with GAK has been presented. The NM consists of a commercial MEMS IMU, embedded GPS receiver and navigation computer unit (NCU). The GPS receiver of NM was designed to use multiple antennas for satellite visibility and GPS attitude determination. The real-time navigation software was designed by modularized structure to guarantee the maintainability and extensibility. In order to evaluate the performance of the NM, a van test was preformed by using a high performance INS - Honeywell H-726 MAPS(Modular Azimuth Position System).The van test results show that the GAK NM with GPS attitude measurement gives better navigation performance than a conventional GPS/INS integration and good coasting capabilities under jamming environment.

• Journal of Navigation and Port Research
• /
• v.26 no.3
• /
• pp.303-310
• /
• 2002

Nowadays, the combined land navigation system using GPS(Global Positioning System) and DR(Deduced Reckoning), etc. has been used. Although GPS is popular with the land navigation system, this is not useful for the kinematic positioning of the vehicles in the urban canyon because of its few satellites. Thus, this study deals with the kinematic positioning of the vehicles with the combined GPS/GLONASS(GLObal Navigation Satellite System) to compliment the drawbacks of GPS. So the kinematic positioning of the vehicles can be performed constantly by the combined GPS/GLONASS based on the high acquisition rate of data with the help of GLONASS despite of many obstacles and few satellites tracked in the test sites. Consequently, the combined GPS/GLONASS can be applicable to the control of traffic flow and the effective management of read system.