• International Journal of Aeronautical and Space Sciences
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• v.14 no.4
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• pp.369-378
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• 2013

This paper presents a vision/LiDAR integrated navigation system that provides accurate relative navigation performance on a general ground surface, in GNSS-denied environments. The considered ground surface during flight is approximated as a piecewise continuous model, with flat and slope surface profiles. In its implementation, the presented system consists of a strapdown IMU, and an aided sensor block, consisting of a vision sensor and a LiDAR on a stabilized gimbal platform. Thus, two-dimensional optical flow vectors from the vision sensor, and range information from LiDAR to ground are used to overcome the performance limit of the tactical grade inertial navigation solution without GNSS signal. In filter realization, the INS error model is employed, with measurement vectors containing two-dimensional velocity errors, and one differenced altitude in the navigation frame. In computing the altitude difference, the ground slope angle is estimated in a novel way, through two bisectional LiDAR signals, with a practical assumption representing a general ground profile. Finally, the overall integrated system is implemented, based on the extended Kalman filter framework, and the performance is demonstrated through a simulation study, with an aircraft flight trajectory scenario.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.2
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• pp.91-103
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• 2018

Conventional inertial measurement units cannot be used in the spinning vehicle with high rotation rate due to gyro's narrow operation range. By the way, angular acceleration can be measured using the accelerometer array distributed in the vehicle. This paper derives a mechanization for the gyro-free INS in the navigation frame, and proposes a gyro-free INS algorithm based on the derived mechanization. In addition, the proposed algorithm is used to estimate angular velocity, attitude, velocity, and position of a spinning vehicle with high rotation rate. A MATLAB-based software platform is configured in order to show validation of the proposed algorithm. The reference trajectory of a spinning vehicle at 3 round per second, 30 round per second are set up, and the outputs of accelerometer are generated when triads of accelerometer are located at the origin and all the axes. Navigation results of the proposed algorithm for the generated output are presented. The results show that the proposed navigation algorithm can be applied to the spinning vehicle with high rotation rate.

• 전자공학회논문지 IE
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• v.45 no.4
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• pp.11-18
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• 2008

This study is implementation of attitude control system(ACS - Attitude Control System). for a multi legs robot. This study designs H/W of Inertial Measurement Unit (IMU) and attitude control algorithm S/W. Compare performance with Mtx and MTx in order to verify action performance of this system after implementation, and will verify a system integrated IMU of a multi-legs robot. ACS uses Gyro and an accelerometer and an earth magnetism sensor, and it is a system controlling a roll, pitch angle attitude of an object. Generally, low price MEMS is difficult to calculate a correct situation of an object as an error occurs severely the Inertial sensor. This study implements IMU in order to develop ACS as use MEMS, accelerometer, Gyro sensor and earth magnetism sensor. Design algorithm each a roll, pitch, yaw attitude guaranteeing regular performance, and do poling in a system as include an attitude calculation program in an IMU system implemented. Mixed output of Gyro and an accelerometer, and recompensed a roll, pitch angle, and loaded in this study on a target platform in order to implement the ACS which guaranteed performance more than a continuously regular level, and operated by real time, and did porting, and verified.

• The KIPS Transactions:PartA
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• v.8A no.4
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• pp.429-438
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• 2001

GPS (Global Positioning System) is the most ideal navigation system which can be used on the earth irrespective of time and weather conditions. GPS has been used for various applications such as construction, survey, environment, communication, intelligent vehicles and airplanes and the needs of GPS are increasing in these days. This paper deals with the design and implementation of the RTOS (Real-Time Operating System) for a GPS navigation computer in the GPS/INS integrated navigation system. The RTOS provides the optimal environment for execution and the base platform to develop GPS application programs. The key facilities supplied by the RTOS developed in this paper are priority-based preemptive scheduling policy, dynamic memory management, intelligent interrupt handling, timers and IPC, etc. We also verify the correct operations of all application tasks of the GPS navigation computer on the RTOS and evaluate the performance by measuring the overhead of using the RTOS services.

• Earthquakes and Structures
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• v.17 no.4
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• pp.373-385
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• 2019

In this article, different frequently adopted modeling aspects of linear and nonlinear dynamic soil-structure interaction (SSI) are studied on a pile-supported integral abutment bridge structure using the open-source platform OpenSees (McKenna et al. 2000, Mazzoni et al. 2007, McKenna and Fenves 2008) for a 2D domain. Analyzed approaches are as follows: (i) free field input at the base of fixed base bridge; (ii) SSI input at the base of fixed base bridge; (iii) SSI model with two dimensional quadrilateral soil elements interacting with bridge and incident input motion propagating upwards at model bottom boundary (with and without considering the effect of abutment backfill response); (iv) simplified SSI model by idealizing the interaction between structural and soil elements through nonlinear springs (with and without considering the effect of abutment backfill response). Salient conclusions of this paper include: (i) free-field motions may differ significantly from those computed at the base of the bridge foundations, thus put a significant bias on the inertial component of SSI; (ii) conventional modeling of SSI through series of soil springs and dashpot system seems to stay on the safer side under dynamic conditions when one considers the seismic actions on the structure by considering a fully coupled SSI model; (iii) consideration of abutment-backfill in the SSI model positively affects the general response of the bridge, as a result of large passive resistance that may develop behind the abutments.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.5
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• pp.969-976
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• 2019

A lightweight artificial intelligence hardware has made great strides in many application areas. In general, a lightweight artificial intelligence system consist of lightweight artificial intelligence engine and preprocessor including feature selection, generation, extraction, and normalization. In order to achieve optimal performance in broad range of applications, lightweight artificial intelligence system needs to choose a good preprocessing function and set their respective hyper-parameters. This paper proposes a unified framework for a lightweight artificial intelligence system and utilization method for finding models with optimal performance to use on a given dataset. The proposed unified framework can easily generate a model combined with preprocessing functions and lightweight artificial intelligence engine. In performance evaluation using handwritten image dataset and fall detection dataset measured with inertial sensor, the proposed unified framework showed building optimal artificial intelligence models with over 90% test accuracy.

• International Journal of High-Rise Buildings
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• v.11 no.4
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• pp.347-362
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• 2022

Current vibration serviceability assessment criteria for wind-induced vibrations in tall buildings are based largely on human 'perception' thresholds which are shown not to be directly translatable to human 'acceptability' of vibrations. There is also a considerable debate about both the metrics and criteria for vibration acceptability, such as frequency of occurrence or peak vs mean vibration, and how these might vary with the nature of the vibration. Furthermore, the design criteria are necessarily simplified for ease of application so cannot account for a range of environmental, situational and human factors that may enhance or diminish the impact of vibrations on serviceability. The dual-site VSimulators facility was created specifically to provide an experimental platform to address gaps in understanding of human response to building vibration. This paper considers how VSimulators can be used to inform general design guidance and support design of specific buildings for habitability, in terms of vibration, which allow engineers and clients to make informed decisions with regard to sustainable design, in terms of energy and financial cost. This paper first provides a brief overview of current vibration serviceability assessment guidelines, and the current understanding and limitations of occupants' acceptability of wind-induced motion in tall buildings. It then describes how the dual-site VSimulators facility at the Universities of Bath and Exeter can be used to assess the effects of motion and environment on human comfort, wellbeing and productivity with examples of how the facility capabilities have been used to provide new, human experience based experimental research approaches.

• Economic and Environmental Geology
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• v.49 no.4
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• pp.281-290
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• 2016

Coastal areas, used as human utilization areas like leisure space, medical care, ports and power plants, etc., are regions that are continuously changing and interconnected with oceans and land. Regular monitoring of coastal changes is essential at key locations with such volatility. But the survey method of terrestial LiDAR(Light Detection and Ranging) system has much time consuming and many restrictions. For effective monitoring coastal changes, KIOST(Korea Institute of Ocean Science & Technology) has constructed a shipborne mobile LiDAR system. The shipborne mobile LiDAR system, installed in a research vessel, comprised a land based LiDAR(RIEGL LMS-420i), an IMU(MAGUS Inertial+), a RTKGNSS(LEICA GS15 GS25), and a fixed platform. The shipborne mobile LiDAR system is much more effective than a land based LiDAR system in the measuring of fore shore areas without shadow zone. Because the vessel with the shipborne mobile LiDAR system is continuously moved along the shoreline, it is possible to efficiently survey a large area in a relatively short time. We conducted test measurements in the Anmok-Songjung beach around the Gangneung port. Effective monitoring of the changes using the constructed shipborne mobile LiDAR system for seriously eroded coastal areas will be able to contribute to coastal erosion management and response.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1125-1139
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• 2022

In an unmanned aerial vehicles (UAVs) system, a physical offset can be existed between the global positioning system/inertial measurement unit (GPS/IMU) sensor and the observation sensor such as a hyperspectral sensor, and a lidar sensor. As a result of the physical offset, a misalignment between each image can be occurred along with a flight direction. In particular, in a case of multi-sensor system, an observation sensor has to be replaced regularly to equip another observation sensor, and then, a high cost should be paid to acquire a calibration parameter. In this study, we establish a precise sensor model equation to apply for a multiple sensor in common and propose an independent physical offset estimation method. The proposed method consists of 3 steps. Firstly, we define an appropriate rotation matrix for our system, and an initial sensor model equation for direct-georeferencing. Next, an observation equation for the physical offset estimation is established by extracting a corresponding point between a ground control point and the observed data from a sensor. Finally, the physical offset is estimated based on the observed data, and the precise sensor model equation is established by applying the estimated parameters to the initial sensor model equation. 4 region's datasets(Jeon-ju, Incheon, Alaska, Norway) with a different latitude, longitude were compared to analyze the effects of the calibration parameter. We confirmed that a misalignment between images were adjusted after applying for the physical offset in the sensor model equation. An absolute position accuracy was analyzed in the Incheon dataset, compared to a ground control point. For the hyperspectral image, root mean square error (RMSE) for X, Y direction was calculated for 0.12 m, and for the point cloud, RMSE was calculated for 0.03 m. Furthermore, a relative position accuracy for a specific point between the adjusted point cloud and the hyperspectral images were also analyzed for 0.07 m, so we confirmed that a precise data mapping is available for an observation without a ground control point through the proposed estimation method, and we also confirmed a possibility of multi-sensor fusion. From this study, we expect that a flexible multi-sensor platform system can be operated through the independent parameter estimation method with an economic cost saving.