• Title/Summary/Keyword: GPS sensor

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A Study on the Development of an Unmanned Marine probing Ship (소형 무인 해양탐사선 개발에 관한 연구)

  • 김상철;임종환;강철웅
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.312-315
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    • 2003
  • The paper presents a small. unmanned remote controlled probing ship that can reduce the cost for acquiring data of marine and coastal environments. The control system is composed of three microprocessors. one is for overall mission control. another for control of propulsion motors. and the other for sensor operation. For communication system, we adopt direct and indirect methods based on the wireless modem of commercial cellular telephone. The former is a direct communication between the modems of the ship and the server. and the latter is an indirect communication via internet between the ship and the server. The system is equipped with a digital compass and a GPS system for position estimation, and extended Kalman filter is used for the data association. The performance of the ship is demonstrated with the results produced by sets of experiments.

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DEM GENERATION FOR SPOT-3 STRIPS USING ORBIT MODELING TECHNIQUE

  • Jeong, Jea-Hoon;Kim, Tea-Jung
    • Proceedings of the KSRS Conference
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    • 2008.10a
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    • pp.37-40
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    • 2008
  • The purpose of this paper is to extract DEMs from Spot-3 strips using orbit modeling technique. Spot-3 stereo strip images along 420km in distance were used for experiments. The orbit modeling technique has been suggested to establish accurate geometric models for a whole strip taken on the same orbit using only a small number of GCPs on the top area of the strip. This method enables extraction of orientation parameters of the scene along the strip that is needed to generate DEMs. Consequently, we were able to extract DEMs over the areas without accurate GCPs obtained by GPS surveying per each scene. Assessment of accuracy was carried out using USGS DTED. DEMs generated from the orbit modelling technique suggested showed satisfactory performance when quantitative analysis of accuracy assessment was carried out.

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Avoidance Algorithm and Extended Kalman Filter Design for Autonomous Navigation with GPS & INS Sensor System Fusion (GPS와 INS의 센서융합을 이용한 확장형 칼만필터 설계 및 자율항법용 회피알고리즘 개발)

  • Yu, Hwan-Shin
    • Journal of Advanced Navigation Technology
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    • v.11 no.2
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    • pp.146-153
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    • 2007
  • Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.

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Road Recognition based Extended Kalman Filter with Multi-Camera and LRF (다중카메라와 레이저스캐너를 이용한 확장칼만필터 기반의 노면인식방법)

  • Byun, Jae-Min;Cho, Yong-Suk;Kim, Sung-Hoon
    • The Journal of Korea Robotics Society
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    • v.6 no.2
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    • pp.182-188
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    • 2011
  • This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

Analysis of Walking Characteristics according to the Disposition of the Acceleration Measuring Unit for the PNS (개인 항법시스템을 위한 가속도 측정장치의 배치에 따른 보행 특성 분석)

  • Lee, Jun-Ho;Cho, Sung-Yoon;Jin, Yong;Park, Chan-Guk
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.439-439
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    • 2000
  • In this paper, the relationship among the vertical acceleration, measuring points and walking patterns is analyzed. To measure acceleration, the acceleration measurement unit and communication board is constructed. It uses MEMS accelerometer ADXL-202 that detects 2-axis acceleration simultaneously. It is shown by the experiment test that the walking pattern is recognized and walking step is detected at easy when acceleration measurement unit is mounted on leg.. This results can be directly utilized in designing the personal navigation system with low-cost inertial sensor.

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Speeding up the KLT Tracker for Realtime Image Georeferencing (실시간 영상 지오레퍼런싱을 위한 KLT 트랙커의 속도개선)

  • Supannee, Tanathong;Lee, Im-Pyeong
    • Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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    • 2010.04a
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    • pp.77-80
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    • 2010
  • The demand for human security significantly promotes the development of surveillance applications using a multi-sensor integrated UAV system. For more sophisticated operations, the system should provide a sequence of images rectified in a ground coordinate system in realtime. This rectification requires accurate position and attitude of the camera at the time of exposure of each image, which can be estimated through an Aerial Triangulation process using the GPS/INS data and tie points between adjacent images. In this work, the KLT tracker is utilized to obtain the tie points. To satisfy the realtime requirements, we present an approach to speed up the tracker by supplying the initial guessed positions of tie points based on the exterior orientation. The experimental results show that, when the guessed positions are supplied, the KLT tracker consumed less computational time than the ordinary KLT which is more suitable to be incorporated into the realtime image georeferencing process.

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Design of RTLS using triangulation to the AP's RSSI in Wireless Local Network (Wireless LAN 환경 하에서 Access Point의 RSSI 삼각측량 방식을 이용한 RTLS 설계)

  • Kim, Soo-Hee;Jung, In-Hwang
    • Proceedings of the Korean Information Science Society Conference
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    • 2006.10d
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    • pp.330-333
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    • 2006
  • 사용자의 위치 기반 서비스는 유비쿼터스 컴퓨팅 환경에서 중요한 역할을 하고 있다. 위치 기반 서비스는 현재 사용자나 사물의 위치를 표시 해 주는 서비스이다. 이러한 위치 인식 기반 서비스는 GPS, ActiveBadge, Sensor 등과 같은 장비를 이용하여 위치를 인식 할 수 있다. 그러나 특허나 벤더에 따라 서로 다른 기술들을 사용하기 때문에 매우 노동 집약적이며 각 장비마다 가격이 고가이기 때문에 의미 있는 ROI를 이끌어 낼 수 없다. 비록 가격이 낮아져 의미 있는 ROI를 이끌어 내더라도 대부분의 위치 인식은 Zone-level정도의 정확도를 가지고 있다. 본 논문에서는 이러한 문제점을 해결하기 위해 최근 급속히 보급되고 있는 IEEE 802.11 Wireless LAN 인프라를 활용하여 AP의 RSSI 정보를 이용하여 위치 인식을 한다. 또한, Zone-level에서 room-level로 기존의 위치 인식보다 좀 더 정밀하게 하기 위하여 삼각측량 알고리즘을 이용하여 설계하였다.

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A Study on Reduction of Fuel Consumption by Displaying Fuel Injection Data for Drivers (연료분사정보 표시장치를 통한 자동차 연비향상 효과에 대한 실험적 연구)

  • Ko, Kwang-Ho
    • Transactions of the Korean Society of Automotive Engineers
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    • v.18 no.4
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    • pp.115-120
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    • 2010
  • The reduction rate of fuel consumption by showing the fuel injection data for driver was measured in this study. The fuel injection data are composed of injection period, real time fuel economy and average fuel economy. The fuel consumption was measured by processing the voltage signal of injector and driven distance by GPS sensor. The fuel consumption was reduced by driving more carefully, i.e driving more steady without sudden acceleration and deceleration watching these fuel injection data. The reduction rate was up to 37% and the rate increased as the driver is customed to this driving pattern.

Autonomous Navigation of KUVE (KIST Unmanned Vehicle Electric) (KUVE (KIST 무인 주행 전기 자동차)의 자율 주행)

  • Chun, Chang-Mook;Suh, Seung-Beum;Lee, Sang-Hoon;Roh, Chi-Won;Kang, Sung-Chul;Kang, Yeon-Sik
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.7
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    • pp.617-624
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    • 2010
  • This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

An Implementation of Cyber View schema tool for Ubiquitous Data Integration and Management (유비쿼터스 데이터 관리를 위한 Cyber View 명세화 도구개발)

  • Park, Sang-Hyun;Min, Soo-Young;Ko, Jae-Jin;Ju, Hyun-Tae
    • Proceedings of the IEEK Conference
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    • 2006.06a
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    • pp.763-764
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    • 2006
  • The rapid growth of Hardware technologies and Network fitted to us Ubiquitous Computing Life[1]. Ubiquitous Computing integrates computation into the environment, rather than having computers which are distinct objects. There are many computational things like a Sensor Network, RFID, GPS, Mobile devices, and so on. Ubiquitous Data Integration and Management are new paradigms. The goals of UDI Service Platform are data protection for the distributed data on pervasive computing devices and data distribution to appropriate users with best distribution policies. To implement the idea we evaluate the logical schema Cyber View that is a management tool.

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