• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2020.11a
• /
• pp.159-160
• /
• 2020

카메라, 라이다, RTK-GNSS 등의 센서는 자율주행 YT 기술 개발을 위해 매우 주요한 요소이다. 본 연구에서는 항만 터미널의 무인화에 핵심 기술 중의 하나인 자율주행 YT에서 안전한 자율주행을 실현하기 위한 다중센서 기반의 융합인식 기술을 제안하고자 한다.

• Proceedings of the Korea Contents Association Conference
• /
• 2016.05a
• /
• pp.195-196
• /
• 2016

본 연구는 건설된 구조물의 주요 구조부재에 각종 계측 Sensor를 설치하여 이로부터 다양한 정보를 제공받아 Monitoring하는 계측 System은 대형구조물의 구조적 응답을 계측하여 분석하고, 구조물의 위험요소를 사전에 발견하고 분석하여 적절한 대책을 수립함으로써 대형 시설물의 수명연장 및 유지관리 비용의 효율성을 높이고, 구조물의 사용성 및 안전성을 확보하고, 그 설계수명을 유지할 수 있는 것이다. 계측전 초기치와의 비교 및 시간 경과에 따른 추이 분석을 통해 이상상태를 발견하는 신호 기반 감시 수행하고 있고, 상태판정 및 손상도 추정이 가능하므로 향후 계속해서 발전시켜 나갈 수 있는 지식기반 감시시스템이 필요하므로 본 연구에서는 공간 정보기반의 정보를 재생하여 GNSS/USN기술을 접목시켜감으로 대형시설물 안전관리가 매우 용이하게 적용할 수 있도록 하였다.

• 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 Association of Geographic Information Studies
• /
• v.22 no.2
• /
• pp.97-106
• /
• 2019

Today, many smart sensor's measurement instruments are used to check the safety situation of various medium and large bridge structures that should be maintained in the construction facilities, but most of them use the method of measuring and confirming the displacement behavior of the bridge at regular intervals. In order to continuously check the safety situation, various measuring instruments are used, but most of them are not able to measure and measure the displacement and behavior of main construction structures at regular intervals. In this study, GNSS and environment smart sensors and drone's image data are transmitted to wireless network so that risk of many bridge's structures can be detected beforehand. As a result, by diagnosing the fine displacement of the bridge in real time and its condition, reinforcement, repair and disaster prevention measures for the structural parts of the bridges, which are expected to be dangerous, and various disasters and accidents can be prevented, and disaster can be prevented could suggest a new alternative.

• Journal of the Society of Naval Architects of Korea
• /
• v.56 no.5
• /
• pp.439-446
• /
• 2019

A real time transporter locating system for shipyard has been implemented through the GNSS and IMU sensor. There are a lot of block movements by transporters at the shipyard, which need to be controlled and monitored for conforming to the shipbuilding process. For the precise and safe transporter motion at the yard, a locating system has been developed by using the GNSS and IMU sensors for the transporter. There are several obstacles of the GPS signals for locating the transporter at the yard, such as, buildings and metal structures. To overcome the weakness of the GPS signal transmission, the IMU data have been properly integrated together. The performance of the proposed real time block locating system has been verified through the real experiments with transporters carrying blocks at a shipyard.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.39 no.6
• /
• pp.507-513
• /
• 2021

GPR (Ground Penetrating RADAR) is a sensor that inspects the pavement state of roads, sinkholes, and underground pipes. It is widely used in road management. MMS (Mobile Mapping System) creates a detailed and accurate road map of the road surface and its surroundings. If both types of data are built in the same area, it is efficient to construct both ground and underground spatial information at the same time. In addition, since it is possible to grasp the road and important facilities around the road, the location of underground pipelines, etc. without special technology, an intuitive understanding of the site is also possible, which is a useful tool in managing the road or facilities. However, overseas equipment to which this latest technology is applied is expensive and does not fit the domestic situation. LiDAR (Light Detection And Raging) and GNSS/INS (Global Navigation Satellite System / Inertial Navigation System) were synchronized in order to replace overseas developed equipment and to secure original technology to develop domestic equipment in the future, and GPR data was also synchronized to the same GNSS/INS. We developed software that performs georeferencing using the location and attitude information from GNSS/INS at the time of acquiring synchronized GPR data. The experiments were conducted on the road site by dividing the open sky and the non-open sky. The road and surrounding facilities on the ground could be easily checked through the 3D point cloud data acquired through LiDAR. Georeferenced GPR data could also be viewed with a 3D viewer along with point cloud data, and the location of underground facilities could be easily and quickly confirmed through GPR data.

• Korean Journal of Remote Sensing
• /
• v.34 no.6_1
• /
• pp.1089-1100
• /
• 2018

In this paper, we analyze the feasibility of establishing a precise sensor model for high-resolution satellite imagery using unified control points. For this purpose, we integrated unified control points and the aerial orthoimages from the national land information map (http://map.ngii.go.kr/ms/map/NlipMap.do) operated by the National Geographic Information Institute (NGII). Then, we collected the image coordinates corresponding to the unified control point's location in the satellite image. The unified control points were used as observation data for establishing a precise sensor model. For the experiment, we compared the results of precise sensor modeling using GNSS survey data and those using unified control points. Our experimental results showed that it is possible to establish a precise sensor model with around 2 m accuracy when using unified control points.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.05a
• /
• pp.144-147
• /
• 2010

본 연구에서는 실내의 활동추적 시스템을 위해 가속도센서와 지자계 센서를 이용하여 외부로부터 독립적인 소형의 관성항법장치를 제안하였다. 기존의 실내 위치추적은 주로 GNSS(global navigation satellite system)의 정보를 가져와 실내 환경에 맞게 초음파와 RSSI(received signal strength indicator)등을 이용하여 구성한 경우가 연구되었으나 이러한 위성항법은 좌표 값이 미리 저장된 고정 노드가 필수적이라는 단점이 있다. 따라서 본 연구에서는 실내 환경과 같이 이동거리가 길지 않으며, 기존 환경 및 외부로부터의 영향에서 자유로운 관성항법을 이용한 실내 활동추적시스템을 제안하였다. 이를 위해 지자계 센서와 3축 가속도 센서를 사용한 신호 계측부와 Zigbee기반의 무선 센서 네트워크를 이용한 무선 전송부를 구성하였으며, 계측된 데이터의 분석으로부터 실내 위치추적의 가능성을 평가하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.11
• /
• pp.997-1003
• /
• 2012

GNSS and ARS are the most common sensors in low-end UAVs. However, these sensors are vulnerable to built-in errors and cannot measure the body heading independently. The GNSS/INS cannot fully compensate the IMU errors in initial alignment process and rectilinear flights. For an unmanned helicopter, a magnetometer can be more useful than any other sensors to obtain heading information. However, the electric motor which drives small helicopter UAV keeps the magnetometer from reading the pure magnetotelluric vector. This paper shows the effects of electric motor on the magnetometer readings, and presents a method to compensate the effects. The results are verified with flight test data. The simulation and experimental results in this paper proves that aiding GNSS/INS with magnetometer increases observability and improves accuracy.

• Journal of Advanced Navigation Technology
• /
• v.23 no.3
• /
• pp.245-250
• /
• 2019

Inertial navigation system has navigation errors because of the error of inertial measurement unit (IMU) and misalignment over time. In order to solve this problem, aided navigation system is performed using global navigation satellite system (GNSS), speedometer, etc. The inertial navigation system equipped with underwater vehicle mainly uses speedometer and performed aided navigation because satellite signals do not pass through underwater. There are DVL, EM-Log, and RPM in the speedometer, and the sensors are applied according to the system environment. This paper describes velocity aided navigation using RPM of inertial navigation system operating in high speed and deep water environment. In addition, we proposes an algorithm to compensate the limit of RPM with straight direction and the current velocity error. There are results of monte-calo simulation to prove performance of the proposed algorithm.