• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.495-500
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• 2006

Satellite systems for objects positioning appeared indispensable for performing basic tasks of maritime navigation. Navigation, understood as safe and effective conducting a vehicle from one point to another, within a specific physical-geographical environment. [Kopacz, $Urba{\acute{n}}ski$, 1998]. However, the systems have not solved the problem of accessibility to reliable and highly accurate information about a position of an object, especially if surveyed toward on-shore navigational signs or in sea depth. And it's of considerable significance for many navigational tasks, carried out within the frameworks of special works performance and submarine navigation. In addition, positioning precisely the objects other than vessels, while executing hydrographical works, is not always possible with a use of any satellite system. Difficulties with GPS application show up also while positioning such off-lying dangers as wrecks, underwater and aquatic rocks also other naturaland artificial obstacles. It is caused by impossibility of surveyors approaching directly any such object while its positioning. Moreover, determination of vessels positions mutually (mutual geometrical relations) by teams carrying out one common tasks at sea, demands applying the navigational techniques other than the satellite ones. Vessels'staying precisely on specified positions is of special importance in, among the others, the cases as follows: - surveying vessels while carrying out bathymetric works, wire dragging; - special tasks watercraft in course of carrying out scientific research, sea bottom exploration etc. The problems are essential for maritime economy and the Country defence readiness. Resolving them requires applying not only the satellite navigation methods, but also the terrestrial ones. The condition for implementation of the geo-navigation methods is at present the methods development both: in aspects of their techniques and technologies as well as survey data evaluation. Now, the classical geo-navigation comprises procedures, which meet out-of-date accuracy standards. To enable meeting the present-day requirements, the methods should refer to well-recognised and still developed methods of contemporary geodesy. Moreover, in a time of computerization and automation of calculating, it is feasible to create also such software, which could be applied in the integrated navigational systems, allowing carrying out navigation, provided with combinatory systems as well as with the new positioning methods. Whereas, as regards data evaluation, there should be applied the most advanced achievements in that subject; first of all the newest, although theoretically well-recognised estimation methods, including estimation [Hampel et al. 1986; $Wi{\acute{s}}niewski$ 2005; Yang 1997; Yang et al. 1999]. Such approach to the problem consisting in positioning a vehicle in motion and solid objects under observation enables an opportunity of creating dynamic and interactive navigational structures. The main subject of the theoretical suggested in this paper is the Interactive Navigational Structure. In this paper, the Structure will stand for the existing navigational signs systems, any observed solid objects and also vehicles, carrying out navigation (submarines inclusive), which, owing to mutual dependencies, (geometrical and physical) allow to determine coordinates of this new Structure's elements and to correct the already known coordinates of other elements.

• Journal of Advanced Navigation Technology
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• v.23 no.6
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• pp.597-604
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• 2019

Artificial neural networks are algorithms that simulate learning through interaction and experience in neurons in the brain and that are a method that can be used to produce accurate results through learning that reflects the characteristics of data. In this study, a model using deep neural network was presented to improve the predicted wind speed values in the meteorological dynamic model. The wind speed prediction improvement model using the deep neural network presented in the study constructed a model to recalibrate the predicted values of the meteorological dynamics model and carried out the verification and testing process and Separate data confirm that the accuracy of the predictions can be increased. In order to improve the prediction of wind speed, an in-depth neural network was established using the predicted values of general weather data such as time, temperature, air pressure, humidity, atmospheric conditions, and wind speed. Some of the data in the entire data were divided into data for checking the adequacy of the model, and the separate accuracy was checked rather than being used for model building and learning to confirm the suitability of the methods presented in the study.

• Korean Journal of Environmental Biology
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• v.38 no.1
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• pp.71-81
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• 2020

In Korea, more than 70% of the ammonia(NH₃) released into the atmosphere is known to originate from livestock manure. The total emission (kg year^-1) is calculated by multiplying the emission factor (kg head^-1 yr^-1) and the activity data (head). To improve the accuracy and reliability of the NH₃ emission estimation process, an accurate account of livestock manure production, calculation of NH₃ conversion and generation during the composting and liquefaction of manure, estimation of NH₃ generation in the storage and transportation of manure and compost, and a comparative study of NH₃ emission during the soil spreading process must be performed. Compared to the US and EU-28, in particular, the domestic emission factor is relatively even and the spatial/temporal scale is not broken down sufficiently to reflect the domestic situation. As a way to improve the accuracy and expertise of estimating NH₃ emission factors, a 'dynamic chamber-capture system' can be utilized, which allows complex considerations of compost, liquid manure, soil, and climate characteristics. By reviewing and comparing the data related to domestic and foreign NH₃ emission, we identified shortcomings in the current domestic system and the directions to be taken and suggested a chamber system that could estimate NH₃ emission flux. It is also necessary to establish a methodology for mesocosm systems in the field, in addition to indoor chamber systems, to be linked with practical policies, such as the calculation of new emission factors for missing sources.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.75-88
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• 2009

The main purpose of the current research is to introduce the alternative algorithm of the non-recursive batch filter based on the unscented transformation in which the linearization process is unnecessary. The presented algorithm is applied to the orbit determination of a low earth orbiting satellite and compared its results with those of the well-known Bayesian batch least squares estimation and the iterative UKF smoother (IUKS). The system dynamic equations consist of the Earth's geo-potential, the atmospheric drag, solar radiation pressure and the lunar/solar gravitational perturbations. The range, azimuth and elevation angles of the satellite measured from ground stations are used for orbit determination. The characteristics of the non recursive unscented batch filter are analyzed for various aspects, including accuracy of the determined orbit, sensitivity to the initial uncertainty, measurement noise and stability performance in a realistic dynamic system and measurement model. As a result, under large non-linear conditions, the presented non-recursive batch filter yields more accurate results than the other batch filters about 5% for initial uncertainty test and 12% for measurement noise test. Moreover, the presented filter exhibits better convergence reliability than the Bayesian least squares. Hence, it is concluded that the non-recursive batch filter based on the unscented transformation is effectively applicable for highly nonlinear batch estimation problems.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.14 no.4
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• pp.195-204
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• 2009

In order to estimate sea surface current fields in the East Sea, we examined characteristics of mean dynamic topography (MDT) fields (or mean surface current field, MSC) generated from three different methods. This preliminary investigation evaluates the accuracy of surface currents estimated from satellite-derived sea level anomaly (SLA) data and three MDT fields in the East Sea. AVISO (Archiving, Validation and Interpretation of Satellite Oceanographic data) provides a MDT field derived from satellite observation and numerical models with $0.25^{\circ}$ horizontal resolution. Steric height field relative to 500 dbar from temperature and salinity profiles in the East Sea supplies another MDT field. Trajectory data of surface drifters (ARGOS) in the East Sea for 14 years provide another MSC field. Absolute dynamic topography (ADT) field is calculated by adding SLA to each MDT. Application of geostrophic equation to three different ADT fields yields three surface geostrophic current fields. Comparisons were made between the estimated surface currents from the three different methods and in-situ current measurements from a ship-mounted ADCP (Acoustic Doppler Current Profiler) in the southwestern East Sea in 2005. For offshore areas more than 50 km away from the land, the correlation coefficients (R) between the estimated versus the measured currents range from 0.58 to 0.73, with 17.1 to $21.7\;cm\;s^{-1}$ root mean square deviation (RMSD). For coastal ocean within 50 km from the land, however, R ranges from 0.06 to 0.46 and RMSD ranges from 15.5 to $28.0\;cm\;s^{-1}$. Results from this study reveal that a new approach in producing MDT and SLA is required to improve the accuracy of surface current estimations for the shallow costal zones of the East Sea.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.30-32
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• 2004

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as lens distortion, focal length, scale factor, pose, orientations, and distance. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1, 2, 3, 4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. The average scale factor tends to fluctuate with small variation and makes distance error decrease. Compared with classical methods that use stereo camera or two or three orthogonal planes, the proposed method is easy to use and flexible. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• Journal of Korea Multimedia Society
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• v.11 no.11
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• pp.1575-1591
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• 2008

In this paper, we propose a new method detecting foot motion capture in order to overlap in realtime foot's 3D virtual model from stereo cameras. In order to overlap foot's virtual model at the same position of the foot, a process of the foot's joint detection to regularly track the foot's joint motion is necessary, and accurate register both foot's virtual model and user's foot in complicated motion is most important problem in this technology. In this paper, we propose a dynamic registration using two types of marker groups. A plane information of the ground handles the relationship between foot's virtual model and user's foot and obtains foot's pose and location. Foot's rotation is predicted by two attached marker groups according to instep of center framework. Consequently, we had implemented our proposed system and estimated the accuracy of the proposed method using various experiments.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.865-871
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• 2012

This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Journal of Navigation and Port Research
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• v.32 no.3
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• pp.215-221
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• 2008

Dynamic characteristics of a structure, i.e., natural frequency and mode shape, have been widely using as an input data in the area of structural integrity or health monitoring which combined with the damage evaluation and structural system identification techniques. It is very difficult, however, to get those information by the conventional modal analysis method from large structures, such as the offshore structure or the long-span bridge, since the source of vibration is not available. In this paper, a method to obtain the frequencies and the mode shapes of a large span truss structure using only acceleration responses is studied. The calculation procedures to obtain acceleration responses and frequency response functions are provided utilizing a numerical model of the truss, and the process to extract natural frequencies and mode shapes from the modal analysis is cleary explained. The extracted mode shapes by proposed method are compared with those from eigenvalue analysis for the estimation of accuracy. The validity of the mode shapes is also demonstrated using an existing damage detection technique for the truss structure by simulated damage cases.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.296-299
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• 2004

KARI precision attitude determination system has been developed for high accurate geo-coding of KOMPSAT-2 image. Sensor data from two star trackers and a IRU are used as measurement and dynamic data. Sensor data from star tracker are composed of QUEST and unit vector filter. Filter algorithms consists of extended Kalman filter, unscented Kalman filter, and least square batch filter. The type of sensor data and filter algorithm can be chosen by user options. Estimated parameters are Euler angle from 12000 frame to optical bench frame, gyro drift rate bias, gyro scale factor, misalignment angle of star tracker coordinate frame with respect to optical bench frame, and misalignment angle of gyro coordinate frame with respect to optical bench frame. In particular, ground control point data can be applied for estimating misalignment angle of star tracker coordinate frame. Through the simulation, KPADS is able to satisfy the KOMPSAT-2 mission requirement in which geo-location accuracy of image is 80 m (CE90) without ground control point.