• 제목/요약/키워드: Integrated navigation

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실내용 서비스 로봇을 위한 거리 센서 기반의 통합 자율 주행 시스템 개발 (Development of Range Sensor Based Integrated Navigation System for Indoor Service Robots)

  • 김건희;김문상;정우진
    • 제어로봇시스템학회논문지
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    • 제10권9호
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    • pp.785-798
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    • 2004
  • This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

vSLAM 보조 통합항법시스템 구현 및 무인 회전익기를 이용한 비행시험 성능분석 (Implementation and Flight Test Performance Analysis of vSLAM Aided Integrated Navigation System for Rotary UAV)

  • 윤석창;이병진;윤석환;이영재;성상경
    • 한국항공우주학회지
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    • 제39권4호
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    • pp.362-369
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    • 2011
  • 본 논문은 vSLAM 보조 통합항법시스템을 구현하고 비행 실험을 통해 성능 분석을 수행한다. 구현한 항법시스템은 GPS 위성의 가시환경에 제한이 있는 지역에서의 일시적인 GPS 신호 두절 발생시, INS 단독 항법 수행으로 인한 위치 오차 발산을 vSLAM 보정을 통해 지연시킬 수 있다. 전동 헬기에 통합 시스템을 탑재하여 비행 실험을 수행하였고, 획득한 비행 데이터 중 임의로 GPS 신호가 제거된 특정 구간에서 INS 단독 항법과 INS/vSLAM 통합 항법간의 위치 추정 성능 비교를 통해 통합 시스템의 성능을 검증하였다.

GPS/Galileo 통합항법알고리즘 구현 및 시각 및 좌표계차이에 따른 영향분석 (Implementation of GPS/Galileo Integrated Navigation Algorithm and Analysis of Different Time-Coordinate Effect)

  • 송종화;지규인;정성균;이상욱;김재훈
    • 한국항공우주학회지
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    • 제36권2호
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    • pp.171-178
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    • 2008
  • Galileo 위성항법시스템은 GPS에 대응하기 위해 EU에서 구축중인 시스템으로 실험위성GIOVE-A의 테스트가 끝났으며 두 번째 테스트 위성 GIOVE-B가 발사 예정이다. GPS와 Galileo 신호 모두 이용할 경우 도심지나 숲과 같은 음영지역에서도 가시위성수의 증가로 위치해를 구할 수 있고 보다 정확한 위치해를 얻을 수 있다. GPS와 Galileo 위성항법시스템은 독자적인 시각과 좌표체계를 갖추고 있으며 항법해를 계산을 위해서 서로 다른 오차 모델을 이용한다. 본 논문에서는 각 위성항법시스템의 오차 모델과 시각 및 좌표체계의 차이에 대해서 분석하였으며 이를 바탕으로 GPS와 Galileo 통합하는 항법 알고리즘을 구현하였다. 시뮬레이션을 통하여 시각, 좌표 시스템의 불일치에 의한 항법오차를 분석하고 가시위성수와 Dilution of Precision(DOP)를 계산하여 통합항법알고리즘의 성능을 검증하였다.

GPS와 QZSS 통합위성항법 성능 분석 (Performance Analysis of Integrated GNSS with GPS and QZSS)

  • 고광섭;최창묵
    • 한국정보통신학회논문지
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    • 제20권5호
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    • pp.1031-1039
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    • 2016
  • QZSS(Quasi-Zenith Satellite System)는 일본의 위성항법시스템으로 도심지역에서 GPS 시스템의 가시성 향상을 위해 계획되었다. 첫 번째 위성(Michibiki)이 2010년 발사되었으며 이후 정상적으로 항법신호를 방송하고 있다. 따라서 본 논문은 GPS와 QZSS를 이용한 통합위성항법시스템의 성능을 분석하는데 목적이 있다. 특히 한반도 주변에서의 통합위성항법 시스템 사용 관점에서 연구가 진행되었으며, QZSS 시스템의 특성 분석, 실험 장비를 이용한 실측 및 통계적 분석 등을 통해 체계적인 연구를 하여 GPS와 QZSS 위성항법 시스템이 가시성측면에서 장애를 받는 경우 뿐 아니라 평상의 위치 측정에도 더욱 신뢰성이 높음을 확인하였다. 또한 한반도 영역에서 다양한 항법파라미터 향상에 GPS와 QZSS 통합위성항법시스템이 매우 유용할 것으로 전망된다.

수중운동체 복합항법 성능 향상을 위한 DVL/RPM 기반의 속도 필터 설계 (DVL-RPM based Velocity Filter Design for a Performance Improvement Underwater Integrated Navigation System)

  • 유태석;윤선일
    • 제어로봇시스템학회논문지
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    • 제19권9호
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    • pp.774-781
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    • 2013
  • The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

Framework and Technology of Integrated Ship-Shore Information System

  • Zhang, Ying-Jun;Dong, Fang;Zhang, Xiu-Guo;Zhu, Fei-Xiang
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2004년도 Asia Navigation Conference
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    • pp.163-166
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    • 2004
  • Integrated Ship-Shore Information System makes use of advanced technology of marine mobile communication and extends the computer network of shipping company to ship. This system conveniently accomplishes the information exchange between company and ship, guarantees navigation safety and improves commercial performance. The framework of integrated ship-shore information system and the analysis of its function are provided in this paper. Meanwhile, the idea based on the specification of J2EE to build this system is put forward and the relevant technology is demonstrated.

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비표준 항로표지 관리운영시스템 표준화 방안 연구 (Study on Standardization Method of non-Standard AtoN Management and Operation System)

  • 박인환;김형래
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2018년도 추계학술대회
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    • pp.119-121
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    • 2018
  • 해상교통 환경변화에 부응하고 나아가 대형 해양사고 방지와 인명사고 예방을 위해 구축, 운영 중인 항로표지통합관리시스템을 2012년 제정된 "해양교통시설 통합관리시스템 표준규격서"를 준용하여 개선을 하고자 한다. 기존에 구축되어 운영 중인 시스템의 자원을 재활용하고 운용소프트웨어를 개선하며, 자국 시스템 설치에 있어 표준화하여 운영 및 유지관리가 용이하도록 한다.

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Test and Integration of Location Sensors for Position Determination in a Pedestrian Navigation System

  • Retscher, Guenther;Thienelt, Michael
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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    • pp.251-256
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    • 2006
  • In the work package 'Integrated Positioning' of the research project NAVIO (Pedestrian Navigation Systems in Combined Indoor/Outdoor Environements) we are dealing with the navigation and guidance of visitors of our University. Thereby start points are public transport stops in the surroundings of the Vienna University of Technology and the user of the system should be guided to certain office rooms or persons. For the position determination of the user different location sensors are employed, i.e., for outdoor positioning GPS and dead reckoning sensors such as a digital compass and gyro for heading determination and accelerometers for the determination of the travelled distance as well as a barometric pressure sensor for altitude determination and for indoor areas location determination using WiFi fingerprinting. All sensors and positioning methods are combined and integrated using a Kalman filter approach. Then an optimal estimate of the current location of the user is obtained using the filter. To perform an adequate weighting of the sensors in the stochastic filter model, the sensor characteristics and their performance was investigated in several tests. The tests were performed in different environments either with free satellite visibility or in urban canyons as well as inside of buildings. The tests have shown that it is possible to determine the user's location continuously with the required precision and that the selected sensors provide a good performance and high reliability. Selected tests results and our approach will be presented in the paper.

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공중항법을 위한 GPS/INS 비행시험 (Flight Test of GPS/INS Navigation System for Air Navigation)

  • 유창선;안이기;임철호;이상정;남기욱;남기욱
    • 한국항공운항학회지
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    • 제10권1호
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    • pp.35-44
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    • 2002
  • Inertial Navigation System(INS) has been used in the field of air navigation for a long time but is not popular in general aviation due to high price. Recently low-price GPS is available but vulnerable to radio interference. As an alternative on these problems, GPS/INS integrated navigation system has been considered. GPS/INS is capable of implementing navigation with low-price inertial sensors but its accuracy is dependent upon how much drift of INS may be calibrated by using GPS. In order to apply GPS/INS to air navigation, it must be investigated how long drift of INS in case of no GPS aiding will be bounded within requirements for safe flight. From the above motivation, the flight test for GPS/INS navigation system was conducted in order to make sense its performance in air navigation and its result was shown.

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Integrated Path Planning and Collision Avoidance for an Omni-directional Mobile Robot

  • Kim, Dong-Hun
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제10권3호
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    • pp.210-217
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    • 2010
  • This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.