• Journal of KIISE
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• v.44 no.6
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• pp.559-565
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• 2017

A UAV(unmanned aerial vehicle) requires higher reliability for external effects such as electromagnetic interference because a UAV is operated by pre-designed programs that are not under human control. The design of a small UAV with a complete resistance against the external effects, however, is difficult because of its weight and size limitation. In this circumstance, a conventional small UAV dropped to the ground when an external effect caused the rebooting of the flight-control computer(FCC); therefore, this paper presents a novel algorithm for the improvement of the flight safety of a small UAV. The proposed algorithm consists of three steps. The first step comprises the calibration of the navigation equipment and validation of the calibrated data. The second step is the storage of the calibration data from the UAV take-off. The third step is the restoration of the calibration data when the UAV is in flight and FCC has been rebooted. The experiment results show that the flight-control system can be safely operated upon the rebooting of the FCC.

• Journal of Korea Multimedia Society
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• v.12 no.1
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• pp.16-25
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• 2009

In the car environment that the first priority is a safety problem, the large vocabulary isolated word recognition system with POI domain is required as the optimal HMI technique. For the telematics terminal with a highly limited processing time and memory capacity, it is impossible to process more than 100,000 words in the terminal by the general speech recognition methods. Therefore, we proposed phoneme recognizer using the phonetic GMM and also PDM Levenshtein distance with multi-layer architecture for the POI recognition of telematics terminal. By the proposed methods, we obtained high performance in the telematics terminal with low speed processing and small memory capacity. we obtained the recognition rate of maximum 94.8% in indoor environment and of maximum 92.4% in the car navigation environments.

• Journal of Advanced Navigation Technology
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• v.16 no.4
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• pp.619-626
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• 2012

One-way Network-RTK(Real Time Kinematics) is considered as a method which can satisfy moving vehicle's recently-required high accuracy and mobility. When we use one-way Network RTK for vehicle navigation, multiple cells-based system is required to provide the service continuously in wide area. The rover which moves through various cells inevitably experiences a correction discontinuity, which is not eliminated by the DD(Double Difference) method and to cause 13cm(horizontal) and 48cm(vertical) position error. We suggest three solutions to reduce this discontinuity, which are identification of master RS with neighbor networks, duplication of communication module to receive corrections from other cells, and ambiguity adjustment between neighbor cells. All of our suggestions reduce the error to 1/4 wavelength in measurement and 3cm in position-domain, and we suggest the ambiguity adjustment is the best when we consider the extendibility of service area and the cost of rover device.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.579-584
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• 2017

SBAS is a satellite based navigation correction system that provides correction information and integrity information of GNSS signal through geostationary satellite based on analysis of GNSS signal in ground station. KASS, a Korean SBAS, is aiming at the APV-1 class SoL service in 2022. Sufficient ground and flight tests must be performed in advance to provide SoL services. However, since KASS, the Korean SBAS, has not yet been added in Korea, specific detailed evaluation items are not presented. EGNOS, which is expected to be the most compatible with KASS and is being serviced after its development, has already been evaluated. In this paper, we analyze the regulations applied to EGNOS construction and analyze the criteria of ground and flight test evaluation items required for flight testing, which is expected to be referenced to the flight inspection process in the future.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Journal of Navigation and Port Research
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• v.33 no.6
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• pp.387-393
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• 2009

In this paper, a 3-D simulator was developed to estimate visually the performance of propelling and integrated control system of the underwater cleaning robot. Based on the dynamics analysis of the UCR, the 3-D model of the UCR was used in the simulator in which position and velocity are included Also, an input and control system using a joystick was developed, and the simulator was applied to the input and control of the simulator. Moreover, an integrated navigation control system was designed, and its performance was validated by a way-point simulator including a PI-based fuzzy control law.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.144-149
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• 2002

This paper presents a technique for real time multiprocessor parallel processing to develop an avionic system computer(ASC) which integrates the avionics control, navigation and fire control, cursive and raster graphic symbol generation into one line replaceable unit. The proposed method has optimal performance by adopting a logically asymmetric structure between four 32bit RISC processors based on the master-slave multiprocessing, a tightly coupled interaction level with the time shared common bus and global memory, and an efficient bus arbitration algorithm. The ASC has been verified through a series of flight tests. The relevant tests also have been rigorously conducted on the prototype ASC such as electrical test, environmental test, and electromagnetic interference test.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.2
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• pp.153-162
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• 2012

In this paper, we propose a new shape similarity measure for M:N polygon pairs regardless of different object cardinalities in the pairs. The proposed method compares the projections of two shape functions onto Zernike polynomial basis functions, where the shape functions were obtained from each overall region of objects, thus not being affected by the cardinalities of object pairs. Moments with low-order basis functions describe global shape properties and those with high-order basis functions describe local shape properties. Therefore several moments up to a certain order where the original shapes were similarly reconstructed can efficiently describe the shape properties thus be used for shape comparison. The proposed method was applied for the building objects in the New address digital map and a car navigation map of Seoul area. Comparing to an overlapping ratio method, the proposed method's similarity is more robust to object cardinality.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.91-97
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• 2004

The first Korean liquid propellant rocket KSR-III successfully finished its flight test on Nov. 28, 2002. Herein, we summarize the results of range safety system operation which is employed for the first time in flight tests of rockets developed by Korea Aerospace Research Institute(KARI). During the flight, safety-critical flight data including instantaneous impact points are monitored in realtime by range safety officers utilizing Range Safety Display Systems. The recorded screen of the display system is presented for the explanation of safety operation. In addition, comparisons are made between onboard navigation system based and radar based results in calculating instantaneous impact points, and also errors from the finally recorded impact point are described.

• Journal of Korean Society for Geospatial Information Science
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• v.1 no.2 s.2
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• pp.167-175
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• 1993

This article contains three objectives. First it is to revise unnecessary procedures of a transportation models and transform results of a model into an image. Second objectives is to develop an operational structures which automatically input all data needed from arc-node topology to link-node topology of transportation network. By solving the network discrepancy, time and money for constructing to transportation can be saved. In addition, the rate of errors that my caused during data input process can be reduced. Conclusively, it is found that the integration package may provide user friendliness and reduce the rate of errors. The package can extract informations such as distance between zones and nodes, lane numbers, and hierarchy from arc-node topology for executing SDI. Another advantage of integration is the ability of spatial analysis. The integrated package may provide adequate arrangements of traffic facilities and checking systems of the shortest path. Finally, the database function of GIS package provides various information about study area for transportation analysis.