• Journal of Korea Society of Industrial Information Systems
• /
• v.20 no.6
• /
• pp.47-56
• /
• 2015

In the multi-sensor system, sensor registration errors such as a sensor bias must be corrected so that the individual sensor data are expressed in a common reference frame. If registration process is not properly executed, large tracking errors or formation of multiple track on the same target can be occured. Especially for launch vehicle tracking system, each multiple observation lies on the same reference frame and then fused trajectory can be the best track for slaving data. Hence, this paper describes an on-line bias estimation/correction and asynchronous sensor fusion for launch vehicle tracking. The bias estimation architecture is designed based on pseudo bias measurement which derived from error observation between GPS and radar measurements. Then, asynchronous sensor fusion is adapted to enhance tracking performance.

• Journal of the Korea Society of Computer and Information
• /
• v.18 no.2
• /
• pp.77-85
• /
• 2013

Recently, location information based routing protocol has been studied to estimate end-to-end path in wireless ad-hoc network. This protocol assumes all nodes can get heir location information via GPS devices and floods only limited area with routing message through acquired location information. Therefore, this protocol has advantage that can reduce the number of routing message than the existing IP-based routing protocols. In addition, all nodes enabling this protocol must acquire their own location information to participate in the location-based routing. However, recent because of the miniaturization of sensor node, sensor node without GPS function has been launched. Therefore in case of the sensor node that does not know location information, it is impossible to participate in the ad hoc network configuration and location information based routing. In this paper, a virtual location information based routing scheme is proposed for wireless nodes without GPS function to be able to participate in location information based routing within ad hoc network environments consisting of wireless nodes with GPS function and wireless nodes without GPS function. Therefore, the proposed protocol has the advantage that a wireless node without a GPS function is able to participate in ad hoc network configuration and the location information based routing.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2018.10a
• /
• pp.157-158
• /
• 2018

In this paper, we describe a study of GPS sensor and monitoring server connected the networks for the composed system development to the platform design and the safety management system for situation recognize.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.10
• /
• pp.928-935
• /
• 2000

In order to improve the performance of a GPS/DR integration system, the error sources of DR sensors should be modeled accurately, This results in the increases in the dimension of the integration filter and, consequently, computational load becomes large. To reduce the computational load, suggested in this paper is a decoupled GPS/DR integration scheme that consists of two cascaded Kalman filters. The GPS velocity output is used in the first filter to calibrate the DR sensor and to fix the velocity as well. The velocity from the first filter is fed to the second filter where the position is corrected using the GPS position output. Experimental results show that the proposed integration scheme has positioning performance comparable to the conventional coupled one, while its computation is reduced to about 2/3.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.30 no.1
• /
• pp.31-38
• /
• 2012

The geo-referencing accuracy of the images acquired by a UAV based multi-sensor system is affected by the accuracy of the mounting parameters involving the relationship between a camera and a GPS/INS system as well as the performance of a GPS/INS system. Therefore, the estimation of the accurate mounting parameters of a multi-sensor system is important. Currently, we are developing a low altitude multi-sensor system based on a UAV, which can monitor target areas in real time for rapid responses for emergency situations such as natural disasters and accidents. In this study, we suggest a system calibration method for the estimation of the mounting parameters of a multi-sensor system like our system. We also generate simulation data with the sensor specifications of our system, and derive an effective flight configuration and the number of ground control points for accurate and efficient system calibration by applying the proposed method to the simulated data. The experimental results indicate that the proposed method can estimate accurate mounting parameters using over five ground control points and flight configuration composed of six strips. In the near future, we plan to estimate mounting parameters of our system using the proposed method and evaluate the geo-referencing accuracy of the acquired sensory data.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.8 no.5
• /
• pp.65-71
• /
• 2008

Recently, the research is progressing on the SWE(Sensor Web Enablement) platform of OGC(Open Geospatial Consortium) to provide the sensing data and moving pictures collected in a sensor network through the Internet Web. However, existed research does not deal with moving objects like cars, trains, ships, and person. Therefore, we present a method to deal with integrated sensing data collected by GPS device, sensor network, and image devices. Also, this paper proposes an integrated processing method for image and sensing data based on location in mobile sensor networks. Additionally, according to proposed methods, we design and implement the combine adapter. This combine adapter receives a contexts data, and provides the common interface included parsing, queueing, creating unified message function. We verity the proposed method which deal with the integrated sensing data based on combine adapter efficiently. Therefore, the research is expected to help the development of a various context information service based on location in future.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.10
• /
• pp.1840-1848
• /
• 2017

Linear wireless sensor networks typically construct a network topology with a high reliability through sequential 1:1 mapping among sensor nodes, so that they are used in various surveillance applications of major national infrastructures. Most existing techniques for identifying sensor nodes in those networks are using GPS, AOA, and RSSI mechanisms. However, GPS or AOA based node identification techniques affect the size or production cost of the nodes so that it is not easy to construct practical sensor networks. RSSI based techniques may have a high deviation regrading location identification according to propagation environments and equipment quality so that complexity of error correction algorithm may increase. We propose a timestamps based sequential localization algorithm that uses transmit and receive timestamps in a message between sensor nodes without using GPS, AOA, and RSSI techniques. The algorithms for distance measurement between each node are expected to measure distance within up to 1 meter in case of an crystal oscillator of 300MHz or more.

• The Journal of Korea Robotics Society
• /
• v.10 no.1
• /
• pp.1-8
• /
• 2015

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.6
• /
• pp.74-80
• /
• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.20 no.6
• /
• pp.774-780
• /
• 2017

The techniques for driving trajectory calculation and driving trajectory distribution calculation are proposed to analyze the durability of ground vehicles effectively. To achieve this aim, the driving trajectory of a vehicle and the driving trajectory distribution of that are needed, in addition to road profile. The road profiles can be measured by a profilometer but a driving trajectory of a vehicle cannot be acquired effectively due to a large position error from a conventional GPS sensor. Therefore two techniques are proposed to reduce the position error of a vehicle and achieve the distribution of driving trajectory of that. The driving trajectory calculation technique produces relative positions by using the velocity, time and heading of a vehicle. The driving trajectory distribution calculation technique produces distributions of the driving trajectory by using axis transformation, estimating reference line, dividing sectors and plotting a histogram of the sectors. As a results of this study, we can achieve the considerably accurate driving trajectory and driving trajectory distribution of a vehicle.