• 한국항공우주학회지
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• 제36권9호
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• pp.929-937
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• 2008

한국항공우주연구원에서 개발하고 있는 KSLV(Korea Space Launch Vehicle)-I 발사체의 비행 안전용 센서의 하나로 활용하기 위하여 개발된 GPS 수신기 시스템은 위성발사체의 특수한 비행환경과 높은 동특성 환경에서도 정상적으로 동작해야 한다. 5년에 걸쳐 개발이 완료된 위성발사체용 GPS 수신기 시스템은 습도, 고온, 저온, 진공, 정현파 및 랜덤진동, 충격, 가속도, 전자파 환경시험 등을 통하여 특수한 환경에서의 성능을 검증하였으며, GPS 시뮬레이터를 이용한 다양한 성능시험을 수행하여 높은 동특성 환경에서도 안정적으로 동작할 수 있음을 확인하였다. 본 논문에서는 위성발사체용 GPS 수신기 시스템의 전 개발과정을 소개하고, 일반적인 GPS 수신기 시스템과 비교하여 개발된 GPS 수신기 시스템의 특수한 기능들을 설명한다.

• 한국군사과학기술학회지
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• 제2권2호
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• pp.186-196
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• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.745-751
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• 2008

This paper presents a framework for GPS/INS/Vision based navigation system of helicopters. GPS/INS coupled algorithm has weak points such as GPS blockage and jamming, while the helicopter is a speedy and high dynamical vehicle amenable to lose the GPS signal. In case of the vision sensor, it is not affected by signal jamming and also navigation error is not accumulated. So, we have implemented an GPS/INS/Vision aided navigation system providing the robust localization suitable for helicopters operating in various environments. The core algorithm is the vision based simultaneous localization and mapping (SLAM) technique. For the verification of the SLAM algorithm, we performed flight tests. From the tests, we confirm the developed system is robust enough under the GPS blockage. The system design, software algorithm, and flight test results are described.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.729-738
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• 2006

In recent days, navigation technology becomes more important as location based service (LBS) such as E911 and telematics are considered as attractive business fields. Commercial LBS requires that navigation system should be inexpensive and available anytime and anywhere - indoors and outdoors. If we consider these requirements, it is out of question that GPS is the most favorite system in the world. However, GPS has a serious problem. The one is that GPS does not operate indoors well. This is because GPS satellites are about 20,000km above the ground so that indoor signals are too weak to be tracked in GPS receiver. And the other is that vertical accuracy is less than horizontal accuracy, because of GPS satellites' geometry. To solve these problems, many researches have been done around the world since 1990s. This paper is also one of them and we will introduce an excellent solution by use of pseudolite. Pseudolite is a kind of signal generator, which transmits GPS-like signal. So it is same as GPS satellite in ground. In this paper, we will propose the integrated navigation system of GPS and pseudolite and show the flight test results using RC airplane to proof our navigation system. As a result, we could improve the vertical accuracy of airplane into the horizontal accuracy.

• 한국측량학회지
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• 제37권5호
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• pp.379-388
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• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.643-647
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• 1990

Gunner primary sight(GPS) stabilization system lays line of sight(LOS) to find out a target and transmits informations to the fire control system (FCS). In a moving vehicle, accuracy of LOS and FCS depends on the design of GPS and servomechanism system. The heavy vibration of vehicle on the severe off-road environment degenerates the stabilization capability of GPS. In this study, to stabilize of elevation for GPS using the variable structure control, we derived the dynamic equation of GPS system and designed the variable structure controller. Computer simulation results fulfilled the static and dynamic stability of GPS using the variable structure control.

• 한국지리정보학회지
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• 제14권2호
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• pp.138-146
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• 2011

측량을 비롯한 다양한 응용분야에서의 GPS 사용이 증가함에 따라 신속하고 정밀한 위치정보 취득에 대한 관심이 높아지고 있다. 이와 함께 현재 미국, 캐나다, 호주 등의 해외 여러 나라에서 인터넷을 기반으로 이메일과 FTP를 이용하여 사용자의 관측파일을 처리하는 자동화된 GPS 데이터 분석 시스템을 구축, 운영 중에 있다. 우리나라도 GPS 시장 확대와 더불어 일반 사용자의 접근이 비교적 용이하고 신속한 위치정보 제공이 가능한 웹을 기반으로 하는 자동 GPS 기선해석 시스템 구축이 필요하다. 본 연구에서 구축한 시스템은 인터넷을 기반으로 하여 시간과 장소에 구애받지 않고, 일반 사용자의 접근이 용이하도록 하였다. 과학기술용 자료처리 엔진을 이용하여 3개의 상시관측소를 네트워크 방식으로 자료처리를 실행하며, 결과는 보고서 형식으로 작성되어 사용자의 이메일로 전송된다. 본 시스템은 일반 사용자의 간편한 고정밀 GPS 자료처리를 가능하게 하며, 향후 대형 구조물 모니터링, 민간분야 공간정보 서비스 등 다양한 분야에 GPS를 적용하기 위한 기반이 될 것으로 기대된다.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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• pp.387-395
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• 2020

Accuracy of an integrated Global Positioning System (GPS) / Inertial Navigation System (INS) relies heavily on the visibility of GPS satellites. Especially, its accuracy is dramatically degraded in urban canyon due to signal obstructions due to large structures. In this paper, we propose a new integrated positioning system that effectively combines INS, GPS, ultrasonic sensor, and barometer in GPS-denied environments. In the proposed system, the ultrasonic sensor provides velocity information along the forward direction of moving vehicle. The barometer output provides height information compensated for the pressure variation due to fast vehicle movements. To evaluate the performance of the proposed system, an experiment was carried out by mounting the proposed system on a test car. By the experiment result, it was confirmed that the proposed system bears good potential to maintain positioning accuracy in harsh urban environments.

• Journal of Astronomy and Space Sciences
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• 제27권2호
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• pp.173-180
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• 2010

As a preparatory study for Global Positioning System-Very Long Baseline Interferometry (GPS-VLBI) hybrid system, we examined if VLBI type observation of the GPS signal is realizable through a test experiment. The test experiment was performed between Kashima and Koganei, Japan, with 110 km baseline. The GPS L1 and L2 signals were received by commercial GPS antennas, down-converted to video-band signals by specially developed GPS down converters, and then sampled by VLBI samplers. The sampled GPS data were recorded as ordinary VLBI data by VLBI recorders. The sampling frequency was 64 MHz and the observation time was 1 minute. The recorded data were correlated by a VLBI correlator. From correlation results, we simultaneously obtained correlation fringes from all 8 satellites above a cut-off elevation which was set to 15 degree. 87.5% of L1 fringes and 12.5% of L2 fringes acquired the Signal to Noise Ratios which are sufficient to achieve the group delay precision of 0.1nsec that is typical in current geodetic VLBI. This result shows that VLBI type observation of GPS satellites will be readily realized in future GPS-VLBI hybrid system.

• 한국항해항만학회지
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• 제29권8호
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• pp.763-770
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• 2005

위성을 이용한 측위 시스템인 광역위성항법시스템(GNSS : Global Navigation Satellite System)은 측량 및 항법 등에 정확한 위치, 속도 그리고 시간 정보를 제공함으로써 위치결정의 중요한 도구가 되어왔다. 미 국방성에 의해 개발되어 운용되고 있는 범세계적위치결정시스템인 GPS는 GNSS 시장에 독점적인 존재이므로, GNSS 사용자는 GPS에 의존할 수 밖에 없는 상황이다. 이런 독점 상황을 극복하기 위하여 러시아, 유럽 그리고 일본은 독자적인 위성항법시스템을 개발하기 시작하였다. 특히 유럽의 Galileo 시스템은 2008년 발사 목표로 진행되고 있다. 본 연구는 위성궤도를 생성하고 분석할 수 있도록 제작한 GIMS2005 프로그램을 이용하여 차세대 GNSS인 Galileo 시스템을 GPS와 비교 분석함에 있다. 본 실험은 GPS 단독 처리의 한계와 GPS/Galileo 결합 시스템의 이점을 인식할 수 있게 한다. 기하구조 분석은 가시위성수, 정밀도 저하율, 내부 신뢰도 그리고 외부 신뢰도를 GPS 단독 처리와 비교하여 분석된다.