• 제어로봇시스템학회논문지
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• 제9권9호
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• pp.736-744
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• 2003

The GPS attitude output or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS information is directly applied to the AGPS/INS integration system, the performance of the system can be rapidly degraded. This paper proposes an AGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which inertial information is combined. Computer simulations and van test were performed to verify the proposed integration system. The results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correct and the cycle slip occurs.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.502-510
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• 2008

UAVs(Unmanned Aerial Vehicles) have many applications in military and commercial areas. The flight control system of UAVs is more important than manned aircraft's because the mission of UAVs must be operated without a human pilot. But very heavy and expensive navigation system makes it difficult to develop UAV flight control system. In this research, GPS/IMU integrated navigation filter was developed for light weight/low cost flight control system of small UAVs. With this navigation filter, full flight control system which has real time operating capability has been developed. The performance of the flight control system is basically checked by HILSIM (Hardware In the Loop SIMulation). Finally, the flight control system is verified by showing performance test result under real flight environment.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 춘계학술대회
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• pp.13-15
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• 2011

전원 공급이 제한되거나 전원 공급이 불가능한 소형 요트, 작업선, 바지선 등에도 항해 안전을 위한 다양한 항법장치가 필요하고, 해양사고 발생 시 사고원인을 분석하기 위한 기능이 필요하다. 그러나 기존 상선 및 수상레저용 개별 항법 장치는 고가, 대용량 전원공급, 조작의 어려움, 넓은 설치 공간의 필요 등의 문제점이 있다. 본 연구에서는 3축 반도체 가속도 센서와 3축 반도체 경사 센서 및 다양한 기상 측정 센서와 CCD 카메라, 방수 캡슐에 내장된 메모리 등을 이용한 소형 스마트 항법 장치(Multi-Tasking Integrated Navigation System, MINS)를 설계하였다. 기존에 개발된 다양한 기술과 상용 센서 등을 이용하면 MINS 개발이 가능함을 알았고, 이러한 MINS 개발에 필요한 시스템을 제안하였다.

• 산업공학
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• 제12권2호
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• pp.294-304
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• 1999

This paper describes the theoretical background and detailed structure of Navi-HEGS (Navigation system Human factors Evaluation and Guideline System) which has been developed for the human factors and HMI(Human-Machine Interface) researches for a CNS (Car Navigation System) and a digital map. Navi-HEGS is and integrated system that consists of a digital map UIMS(User Interface Management System), a CNS simulator, various evaluation tools, and a design guideline system. If Navi-HEGS is properly applied and utilized, it is possible to extract the substantial users requirements and preferences of a CNS and a digital map and then, these requirements can be simulated and evaluated with various human factors evaluation techniques. Applications of Navi-HEGS can improve the CNS usability, drivers safety and performance that directly affect the success of ITS(Intelligent Transport System). Also, results can be used as the basic data to establish the standards and design guidelines for the driver-centered CNS design.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1995년도 VTS and IBS 95 The Korean Institute of Navigation 1995년도
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• pp.184-192
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• 1995

Although ship's draught information onboard is substantial for both the safety of navigation and the estimation of loaded cargoes its accuracy depends in traditional surveying method on the skillfulness of observers and the condition of the sea surface round the vessel. To obtain more accurate information accessibly measuring instruments with sophisticated sensors such as mechanical electronic and ultrasonic transducers have been developed. however they have still limitation in accuracy and in making up a system due to the complexity of processing signal. In this paper we propose a he technique for analyzing ultrasonic pulse signal in order to improve the measurement accuracy and simplify a remote sensing system of draught by ultrasonic waves. This technique is useful for measuring draught being considered the influence of sea surface fluctuation and for transferring its data briefly to required equipment in integrated bridge system.

• 한국항공우주학회지
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• 제36권6호
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• pp.608-615
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• 2008

새로운 위성항법시스템들이 등장하면서 GNSS 위성항법수신기, 보강시스템, 통합항법시스템 분야 등 새로운 위성항법에 대응하기 위한 연구 개발이 많이 필요하게 되었다. 위성 항법 신호 생성과 전송 그리고 수신기 신호처리에 관련된 시뮬레이터의 개발은 새로운 위성항법에 대한 기술을 파악하고 핵심기술을 연구 개발할 수 있는 좋은 방법이다. 본 연구에서는 현재 구체적인 신호 규격이 결정되어 공개되어 있는 GPS와 Galileo 위성항법시스템의 시뮬레이터를 IF(intermediate frequency) 신호레벨에서 개발하였다.

• 한국항행학회논문지
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• 제14권6호
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• pp.990-995
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• 2010

본 논문에서 시험 연구선 선박정보의 관리를 위한 지능형 통합 정보 시스템의 설계를 제안하고자 한다. 제안하는 시스템은 연구 시험선이 추구하는 혁신 및 개선 활동을 활성화하기 위해 기관 정보관리, 선박관리, 연구원들의 업무, 교육, 훈련 과제의 진도를 관리하고, 유효성을 검증하고, 그 이력을 관리하기 위한 목적을 가지고 있다. 각각의 시스템들의 자료가 저장되어, 정보 활용성을 높인다. 제안된 지능형 통합 정보 시스템을 통해 체계적으로 시험 연구선의 프로젝트의 진도를 관리하고 효율적인 업무 처리를 실현하는 효과를 기대할 수 있다.

• 전기학회논문지
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• 제68권1호
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• pp.189-198
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• 2019

In recent years, visual-inertial odometry(VIO) algorithms have been extensively studied for the indoor/urban environments because it is more robust to dynamic scenes and environment changes. In this paper, we propose loosely coupled(LC) VIO algorithm that utilizes the velocity vectors from both visual odometry(VO) and inertial measurement unit(IMU) as a filter measurement of Extended Kalman filter. Our approach improves the estimation performance of a filter without adding extra sensors while maintaining simple integration framework, which treats VO as a black box. For the VO algorithm, we employed a fundamental part of the ORB-SLAM, which uses ORB features. We performed an outdoor experiment using an RGB-D camera to evaluate the accuracy of the presented algorithm. Also, we evaluated our algorithm with the public dataset to compare with other visual navigation systems.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.51-58
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• 2022

Korea Augmentation Satellite System (KASS) is a Satellite Based Augmentation System (SBAS) system under development in South Korea and aims to provide air navigation services after 2023. In order to provide reliable service, detailed design for the operation of this system is required. This paper proposes a detailed operation-based designs based on mission, architecture, operation definition of the system. For the stable operation of the system, an operation organization was designed and operation activities were classified in consideration of the architecture and function of the system. Detailed operation procedures were designed according to this classification and operation procedures related to the command and configuration of subsystem were verified on the Integration, Verification and Qualification (IVQ) platform for integrated testing and verification. The proposed operation concepts and procedures will be continuously confirmed and verified during verification, qualification and service preparation, and will be updated event after official KASS service.

• Journal of Positioning, Navigation, and Timing
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• 제13권2호
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• pp.149-158
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• 2024

Global Navigation Satellite System (GNSS) receivers are becoming increasingly sophisticated, equipped with advanced features and precise specifications, thus demanding efficient and high-performance hardware platforms. This paper presents the design and implementation of a Field-Programmable Gate Array (FPGA)-based GNSS receiver development platform for multi-band signal processing. This platform utilizes a FPGA to provide a flexible and re-configurable hardware environment, enabling real-time signal processing, position determination, and handling of large-scale data. Integrated signal processing of L/S bands enhances the performance and functionality of GNSS receivers. Key components such as the RF frontend, signal processing modules, and power management are designed to ensure optimal signal reception and processing, supporting multiple GNSS. The developed hardware platform enables real-time signal processing and position determination, supporting multiple GNSS systems, thereby contributing to the advancement of GNSS development and research.