• Title/Summary/Keyword: 3D Navigation

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A Study of the Development Test and Evaluation and Verification Procedure of a Multi-Mission USV, M-Searcher (복합임무 무인수상정의 개발시험평가 및 검증절차에 관한 고찰)

  • Park, hin-Bae;Kim, Won-Jae;Lee, Kurnchul
    • Journal of Ocean Engineering and Technology
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    • v.32 no.5
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    • pp.402-409
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    • 2018
  • This paper describes the plan and procedure of a development test and evaluation that will be performed to verify the performance and technology of multi-mission unmanned surface vehicles (MMUSVs). In order to verify the design requirement of MMUSVs, we designed and manufactured the common platform of MMUSVs, which have an overall length of8.4 m, a displacement of 3,100 kg, and a speed of more than35 kts. The platform is equipped with several sub-systems, including radar and an EOTS/IRS. The EOTS/IRS, along with the search radar, is used for effective detection, identification, and targeting. The core technologies of MMUSV for DT&E will be investigated. The common platform design technologies, remote operating and control system technologies, autonomous navigation technologies, and unmanned operational technology of sensors and equipment will be studied for the development of the MMUSV's core technologies. The system will be able to make precise observations and track targets both manually and automatically during day and night conditions. Currently, the verification tests for each of the technologies and for the integrated system are in the pipeline for DT&E, which will be performed next year. Also, software reliability and life tests will be performed.

UNDERWATER DISTRIBUTION OF VESSEL NOISE (선박소음의 수중분포에 관한 연구)

  • PARK Jung Hee
    • Korean Journal of Fisheries and Aquatic Sciences
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    • v.10 no.4
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    • pp.227-235
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    • 1977
  • The noise pressure scattered underwater on account of the engine revolution of a pole and liner, Kwan-Ak-San(G. T. 234.96), was measured at the locations of Lat. $34^{\circ}47'N$, Long. $128^{\circ}53'E$ on the 16th of August 1976 and Lat. $34^{\circ}27'N$, Long. $128^{\circ}23'E$ on the 28th of July, 1977. The noise pressure passed through each observation point (Nos. 1 to 5), which was established at every 10m distance at circumference of outside hull was recorded when the vessel was cruising and drifted. In case of drifting, the revolution of engine was fixed at 600 r. p. m. and the noise was recorded at every 10 m distance apart from observation point No. 3 in both horizontal and vertical directions with $90^{\circ}$ toward the stern-bow line. In case of cruising, the engine was kept in a full speed at 700 r.p.m. and the sounds passed through underwater in 1 m depth were also recorded while the vessel moved back and forth. The noise pressure was analyzed with sound level meter (Bruel & Kjar 2205, measuring range 37-140 dB) at the anechoic chamber in the Institute of Marine Science, National Fisheries University of Busan. The frequency and sound waves of the noise were analyzed in the Laboratory of Navigation Instrument. From the results, the noise pressure was closely related to the engine revolution shelving that the noise pressure marked 100 dB when .400 r. p. m. and increase of 100 r. p. m. resulted in 1 dB increase in noise pressure and the maximum appeared at 600 r. p. m. (Fig.5). When the engine revolution was fixed at 700 r. p. m., the noise pressures passed through each observation point (Nos. 1 to 5) placed at circumference of out side hull were 75,78,76,74 and 68 dB, the highest at No.2, in case of keeping under way while 75,76,77,70 and 67 dB, the highest at No.3 in case of drifting respectively (Fig.5). When the vessel plyed 1,400 m distance at 700 r.p.m., the noise pressure were 67 dB at the point 0 m, 64 dB at 600m and 56 dB at 1,400m on forward while 72 at 0 m, 66 at 600 m and 57 dB at 1,400 m on backward respectively indicating the Doppler effects 5 dB at 0 m and 3 dB at 200 m(Fig.6). The noise pressures passed through the points apart 1,10,20,30,40 and 50 m depth underwater from the observation point No.7 (horizontal distance 20 m from the point No.3) were 68,75,62,59,55 and 51 dB respectively as the vessel was being drifted maintaining the engine revolution at 600 r. p. m. (Fig. 8-B) whereas the noise pressures at the observation points Nos.6,7,8,9 and 10 of 10 m depth underwater were 64,75,55,58,58 and 52 dB respectively(Fig.8-A).

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Vehicle Dynamics and Road Slope Estimation based on Cascade Extended Kalman Filter (Cascade Extended Kalman Filter 기반의 차량동특성 및 도로종단경사 추정)

  • Kim, Moon-Sik;Kim, Chang-Il;Lee, Kwang-Soo
    • Journal of the Institute of Electronics and Information Engineers
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    • v.51 no.9
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    • pp.208-214
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    • 2014
  • Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

Co-Location and Analysis of an eLoran Transmitting Antenna in an MF Transmitting Site (중파방송 송신소 내 eLoran용 송신 안테나 동일 장소 배치 및 분석)

  • Kim, Ki-nam;Mok, Ha-kyun;Koo, Hanni;Nam, Sangwook
    • The Journal of Korean Institute of Electromagnetic Engineering and Science
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    • v.27 no.12
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    • pp.1053-1058
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    • 2016
  • The eLoran(enhanced Long Range Navigation) transmitting antenna is analyzed for co-location with an AM transmitting antenna in an MF transmitting site. To compensate for the loading effect, the umbrella-type loading is applied for eLoran antenna. The validity of the co-location between the MF antenna and the eLoran antenna is verified through the simulation results of the radiation pattern and the return loss. Also, coupling including antenna matching circuit is analyzed to verify the effect of the transmitting circuit. The coupling between the LF and eLoran antenna is -53.3 dB at 100 kHz and -64.8 dB at 1,053 kHz, respectively.

Study on the Control and Topographical Recognition of an Underwater Rubble Leveling Robot for Port Construction (항만공사용 사석 고르기 수중로봇의 제어 및 지형인식에 관한 연구)

  • Kim, Tae-Sung;Kim, Chi-Hyo;Lee, Jin-Hyung;Lee, Min-Ki
    • Journal of Navigation and Port Research
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    • v.42 no.3
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    • pp.237-244
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    • 2018
  • When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.

Simulating the Availability of Integrated GNSS Positioning in Dense Urban Areas (통합 GNSS 환경에서 도시공간 위성측위의 가용성 평가 시뮬레이션)

  • Suh, Yong-Cheol;Lee, Yang-Won
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.25 no.3
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    • pp.231-238
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    • 2007
  • This paper describes the availability of the forthcoming integrated GNSS(Global Navigation Positioning System) positioning that includes GPS(Global Positioning System), Galileo, and QZSS(Quasi-Zenith Satellites System). We built a signal propagation model that identifies direct, multipath, and diffraction signals, using the principles of specular reflection and ray tracing technique. The signal propagation model was combined with 3D GIS(three-dimensional geographic information system) in order to measure the satellite visibility and positioning error factors, such as the number of visible satellites, average elevation of visible satellites, optimized DOP(dilution of position) values, and the portion of multipath-producing satellites. Since Galileo and QZSS will not be fully operational until 2010, we used a simulation in comparing GPS and GNSS positioning for a $1km{\times}1km$ developed area in Shinjuku, Tokyo. To account for local terrain variation. we divided the target area into 40,000 $5m{\times}5m$ grid cells. The number of visible satellites and that of multipath-free satellites will be greatly increased in the integrated GNSS environment while the average elevation of visible satellites will be higher in the GPS positioning. Much decreased PDOP(position dilution of precision) values indicate the appropriate satellite/user geometry of the integrated GNSS; however, in dense urban areas, multipath mitigation will be more important than the satellite/user geometry. Thus, the efforts for applying current technologies of multipath mitigation to the future GNSS environment will be necessary.

Application of Terrestrial LiDAR for Displacement Detecting on Risk Slope (위험 경사면의 변위 검출을 위한 지상 라이다의 활용)

  • Lee, Keun-Wang;Park, Joon-Kyu
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.1
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    • pp.323-328
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    • 2019
  • In order to construct 3D geospatial information about the terrain, current measurement using a total station, remote sensing, GNSS(Global Navigation Satellite System) have been used. However, ground survey and GNSS survey have time and economic disadvantages because they have to be surveyed directly in the field. In case of using aerial photographs and satellite images, these methods have the disadvantage that it is difficult to obtain the three-dimensional shape of the terrain. The terrestrial LiDAR can acquire 3D information of X, Y, Z coordinate and shape obtained by scanning innumerable laser pulses at densely spaced intervals on the surface of the object to be observed at high density, and the processing can also be automated. In this study, terrestrial LiDAR was used to analyze slope displacement. Study area slopes were selected and data were acquired using LiDAR in 2016 and 2017. Data processing has been used to generate slope cross section and slope data, and the overlay analysis of the generated data identifies slope displacements within 0.1 m and suggests the possibility of using slope LiDAR on land to manage slopes. If periodic data acquisition and analysis is performed in the future, the method using the terrestrial lidar will contribute to effective risk slope management.

Analysis for Accuracies of Position Fix by GPS in Kusan Area (군산지역에서의 GPS측위정도 해석)

  • LEE Won-Woo;SHIN Hyeong-Il;LEE Dae-Jae
    • Korean Journal of Fisheries and Aquatic Sciences
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    • v.26 no.3
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    • pp.250-257
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    • 1993
  • The Global Positioning System(GPS) is a worldwide radio navigation system based on satellite technology. Signal availability and accuracy of GPS are subject to change due to an incomplete constellation and operational test activities. In order to analyze the signal availability and accuracy of GPS, we made an experiment on this system in Kunsan during April 6, 7, 9, 10, 1992. The results obtained are summarized as follows: 1. It was possible to avail the GPS system almost 24 hours per day, but sometimes it was impossible to obtain the GPS signal 2 or 3 times per day and its total time was at the most an hour. 2. By using satellite almanac, we also could calculate PDOP(HDOP) and forecast signal availability. And the mean positional error was $37.9{\sim}73.6m$ and standard deviation was $37.4{\sim}133.1m$. The positional error almost coincided with PDOP(HDOP). 3. The mean positional error of 3D was less than that of 2D. And the altitude error in 3D was about $56{\sim}74m$ and its standard deviation was about $65{\sim}93m$.

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Design of Dual Band Antenna for UWB / WAS for Wireless Local Area Communication (무선 근거리 통신을 위한 UWB/WAS용 이중대역 안테나 설계)

  • Kim, Gyeong-rok;Oh, Mal-geun
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2018.10a
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    • pp.522-525
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    • 2018
  • In this paper, we design a UWB / WAS microstrip antenna for wireless local high - speed communication. The substrate of the proposed antenna is FR-4 (er = 4.3) and its size is $30[mm]{\times}30[mm]$. It is designed to have characteristics that can be used in the frequency bands of 3.5 [GHz] and 5.2 [GHz], which are UWB / WAS frequency bands. The simulation was performed using CST Microwave Studio 2014. Simulation results show that the gain is 1.592 [dBi] at 3.5 [GHz] and 2.210 [dBi] at 5.2 [GHz]. The S-parameter also showed a result of less than -10 [dB] (WSWR 2: 1) in the desired frequency band. Microstrip antennas have been miniaturized, high performance, and light weight, and excellent and low cost systems are continuously being developed. In addition, many people use wireless local area network systems used in homes, companies, and public facilities. Since the UWB / WAS technology is proposed according to the development of the system and the demand increase, the antenna that satisfies the above conditions will be designed and the technology applicable to the system will be used more conveniently.

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Ambient Display: Picture Navigation Based on User Movement (앰비언트 디스플레이: 사용자 위치 이동 기반의 사진 내비게이션)

  • Yoon, Yeo-Jin;Ryu, Han-Sol;Park, Chan-Yong;Park, Soo-Jun;Choi, Soo-Mi
    • Journal of the HCI Society of Korea
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    • v.2 no.2
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    • pp.27-34
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    • 2007
  • In ubiquitous computing, there is increasing demand for ubiquitous displays that react to a user's actions. We propose a method of navigating pictures on an ambient display using implicit interactions. The ambient display can identify the user and measure how far away they are using an RFID reader and ultrasonic sensors. When the user is a long way from the display, it acts as a digital picture and does not attract attention. When the user comes within an appropriate range for interaction, the display shows pictures that are related to the user and provides quasi-3D navigation using the TIP(tour into the picture) method. In addition, menus can be manipulated directly on a touch-screen or remotely using an air mouse. In an emergency, LEDs around the display flash to alert the user.

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