• Journal of Positioning, Navigation, and Timing
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• v.6 no.3
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• pp.95-104
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• 2017

Positioning signals transmitted by Global Positioning System (GPS) satellites located at approximately 20,000 km height is very weak. For the reason, GPS signals are vulnerable to intentional jamming and unintentional disturbance. Recently, the number of jamming has been increased significantly all over the world. For the applications where continuous and reliable positioning is required when GPS jammers are activated, other positioning systems are strongly required. In this work, a set of Time Division Multiple Access (TDMA)-based transmitters and receivers utilizing Universal Software Radio Peripheral (USRP) and GNU Radio are designed and implemented. To eliminate the undesirable effects of GPS jamming, a frequency band which does not overlap L band is utilized. To demonstrate the accuracy of the proposed method, an experiment was performed.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2000.11a
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• pp.385-388
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• 2000

본 논문에서는 좀더 효율적이고 소형화한 GPS(Global Positioning System)용 안테나와 LNA(Low Noise Amplifier)를 IMT-2000 단말기에 내장함으로써 개인 휴대 통신 기능과 더불어 좀 더 정확한 위치추적 기능을 동시에 가능케 하고자 한다. 중심 주파수 1.575 GHz의 저잡음 증폭기와 안테나의 크기는, 합쳐서 10$\times$10$\times$4 (mm)로서 상층은 마이크로스트립 패치 안테나이고, 중간층은 안테나 ground와 LNA ground의 공통 ground이며, 제일 아래층에는 LNA가 위치하게 된다. LNA 의 경우 2단을 중첩하여, 첫째 단 16dB, 둘째 단 18dB의 이득 특성을 보였는데 첫째, 둘째 단의 대역통과 필터에서 삽입손실로 3dB의 손실을 가져와 총 3dB의 이득 특성을 보였다. 잡음 특성은 약 1.9의 특성을 보였다. 안테나의 경우 9$\times$9$\times$$\times$2 (mm)로써, 고유전율( $\varepsilon$$_{r}$ = 73 )의 세라믹을 사용하여 그 크기를 상당부분 줄였다. 그리고 유전체 밑의 ground를 옆면까지 높임으로써 좀 더 소형화한 안테나를 가능케 하였다. 고유전율의 유전체를 사용하였기에 안테나 자체의 이득 특성은 저잡음 증폭기에서 보상하고, 안테나의 임피던스 정합 또한 LNA의 입력 쪽에서 하도록 하였다. 또한 위성신호 수신을 위해 안테나는 RHCP 의 원형편파 특성을 갖는다.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.156-164
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• 2011

This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.5
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• pp.401-406
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• 2020

Continuously monitoring of Horizontal and Vertical movements in vulnerable areas due to earthquakes and volcanic activities is vital. These geohazard activities are the result of a slow deformation rate at the tectonic plate boundaries. The recent development of GPS (Global Positioning System) technology has made it possible to attain a millimeter level changes in the Earth's crust. This study used continuously observed GPS data at the flank of Ol Doinyo Lengai volcanic Mountain to determine crustal motion caused by impinging volcano from mantle convention. We analyzed 8 GPS observed from June 2016 to Dec 2019 using a well-documented Global Kalman Filter GAMIT/GLOBK software. The resulting velocity from GAMIT/GLOBK analysis was then used to compute the relative motion of our study area with respect to Nubia plate. Our analysis discovered a minor motion of less than 5mm/year in both horizontal and vertical components.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.11a
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• pp.349-354
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• 2004

A monitoring system for container is the positioning and managing system, which has been rapidly updated recently, for logistics in real-time. GPS is a global positioning system which is capable of positioning container promptly with a reasonable amount of accuracy. Facility managers of ports or airports should load/unload/keep freight effectively. Transport companies or freight owners should allocate moving container properly and be able to prevent or cope with the loss or delay of freight. In this study, it is monitored and tested the movement of the containers fitted with GPS, and its accuracy and efficiency is analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.952-959
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• 2016

This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.03b
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• pp.297-302
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• 2000

This paper reports the application of GPS (Global Positioning System) technique into the geotechnical information system. Typical example of such application can be the database of logging data. Other examples can be found from the surveying for road work, excavation work, landslide mapping and image processing of slope face. This paper also reports the enhancement method of the accuracy. The results from this study confirms that GPS could be a powerful tool for the future geotechnical investigation works in Korea.

• 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.

• Journal of Sensor Science and Technology
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• v.16 no.4
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• pp.294-300
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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.