• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.9
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• pp.839-847
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• 2011

This paper proposes a new guidance law for increasing the lethality of munitions. The well known PNG (Proportional Navigation Guidance) is inadequate for the munitions because of some weaknesses. Even if the munition does not have the impact point error, the acceleration command is non zero because the line-of-sight changes at all times in flight. Therefore, we use a difference between a target and an impact point. This proposed guidance law is similar to PNG in the form, but this guidance law concentrates a correction rate of flight path angle instead of the LOS (Line of Sight) rate. The correction of flight path angle is defined as the amount of impact point error. This impact point error can be calculated by neural networks rapidly. Finally, we show that the simulation results prove the suitability of this law.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.408-414
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• 2009

A GPS/INS system is widely used in the UGV to estimate position during the mission. However, there are few restrictions when a GPS/INS system used alone. For example, GPS provides precise location information but easily interrupted by external factors like weather, environment, etc. INS provides continuous location data but positioning errors grew very rapidly with time. Therefore, it is necessary to integrating multi-sensors for more continuous and correct position estimation. In this paper, we propose location estimation algorithm of the UGV for GPS/INS integrated system that combines Fuzzy Inference and Unscented Particle Filter(UPF) to improve navigation. Fuzzy inference provides the simplest method integrating GPS/INS and UPF is non-linear estimation filter well suited to the correction of errors. The performance of the proposed algorithm was tested to compare with other algorithms. the results show that the proposed algorithm is more accuracy in position estimation and ensures continuous position tracking.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.2
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• pp.125-132
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• 2015

This paper is about analysis of UDRE monitoring method for Korean Satellite navigation system, which is the correction parameter of satellite measurements. New receiver clock bias and tropospheric delay error estimation method to make pseudo-range residual for UDRE monitoring is proposed. Saastamoinen model and Neill mapping function are used for estimate the tropospheric delay and EKF is used for estimgate the receiver clock bias. Through the satellite measurements and regional weather data received directly from the domestic is using for UDRE monitoring analysis, more suitable UDRE monitoring threshold can be deducted and it is expected to be utilized for fault detection technique of Korean Satellite Navigation System.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1930-1931
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• 2007

본 논문에서는 Zigbee와 초음파 센서를 이용한 실내 항법 시스템을 제안한 시스템 Zigbee라는 단거리 무선 통신 망을 이용하여 수집한 후 이동체의 위치를 추정한다. 제안한 시스템에서는 여러 곳에 초음파 센서를 설치하고 이동체까지 측정한 거리는 실내 항법에 적합한 위치 추정 기법을 결정하기 위하여 최소자승법과 직접풀이법의 성능을 모의실험을 통하여 비교하였고, 두 기법 모두 충분히 작은 오차를 가지는 것을 확인하였는데 최소자승법은 선형화 기준점 설정에 따라 발산하는 경우가 나타나는 것을 볼 수 있었다.

• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.73-74
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• 2019

We are developing a receiver that integrates eLoran and GNSS for navigation. The receiver shows similar performance to LORADD receiver in single navigation using Loran-C. In the case of GNSS navigation, the receiver uses GPS and GLONASS or GPS and BDS, so it has better navigation performance than the LORADD receiver using only GPS. Therefore, it is possible to expect better performance than the LORADD receiver in the integrated navigation which can complete the time synchronization between the chains later and obtaion the TOA. Loran data channel decoding function is implemented for eLoran navigation and the function of eliminating error factors such as interference is being implemented.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.108-117
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• 2012

This paper focuses on a performance analysis of TRN among various nonlinear filtering methods. In a TRN research, extended Kalman filter(EKF) is a basic estimation algorithm. In this paper, iterated EKF(IEKF), EKF with stochastic linearization(SL), and unscented Kalman filter(UKF) algorithms are introduced to compare navigation performance with original EKF. In addition to introduced sequential filters, bank of Kalman filters method, which is one of the batch method, is also presented. Finally, by simulating an artificial aircraft mission, EKF with SL was chosen as the most consistent filter in the introduced sequential filters. Also, results suggested that the bank of Kalman filters can be alternative for TRN, when a fast convergence of navigation solution is needed.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.577-584
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• 2018

GNSS based transport infrastructure cluster is to broadcast satellite navigation correction information and integrity information capable of precise positioning for land transport users. This makes it possible to do lane-level positioning reliably. However, in order to provide the lane-level positioning and correction information service nationwide, new station sites selection and to build GNSS stations have a heavy cost and a burden for a considerable period of time. In this paper, we propose the cluster design criteria and national-wide network-based precise positioning for land transportation (NETPPI-LT) cluster design for a cluster-based precise positioning. Furthermore, it is analyzed the precise positioning pre-performance of this cluster design based on the spatial error and verified its suitability as the precise positioning pre-performance of the cluster design.

• Progress in Medical Physics
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• v.8 no.2
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• pp.19-26
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• 1997

3-dimensional Neuronavigator, Viewing Wand(ISG Technologies, Toronto, Cannda) is the surgery aid equipment for real time image (CT or MRI) guided surgery. The assurance of spatial accuracy of this system is important for clinical application. In this study, we have designed the acrylic brain phantom and measured the spatial error with that phantom. The phantom has designed to have capability to simulate image guided surgery. The phantom has 22 vertical rods whose diameters are 5mm and each rods has different length. CT scans were performed by 2.0mm slice and reconstructed for 3-Dimensional analysis. End point of rods can be obtained using reconstructed 3- Dimensional images and they are compared to actual position data. Average deviation was less than 2mm for various situations. Spatial error of Viewing Wand is acceptable in the clinical points of view, while cosmetics of the software needs to be modified to more user friend. Better accuracy can be expected when we apply the mixed fiducial fit registration and surface fit registration method. And even better results can be obtained if registration points distributed even and symetric around the target.