• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.493-495
• /
• 2004

In this paper, shows a research in accordance with the design the implementation of the localization system for mobile robot using INS(Inertial Navigation System) and GPS(Global Positioning System). First, a Strapdown Inertial Navigation System : SDINS is designed and implemented for low speed walking robot, by modifying Inertial Navigation System which is widely used for rocket, airplane, ship and so on. In addition, thesis proposes the localization of robot with the method of loosely coupled method by using Kalman Filter with INS/GPS integrated system to utilize assumed position and steed data from GPS.

• Korean Journal of Oriental Medicine
• /
• v.11 no.2
• /
• pp.35-52
• /
• 2005

This study is to design a Semantic Navigation Retrieval System for Oriental Medicine Articles based on a XTM so that people can search and use them more effectively than before. Keywords extracted from articles are categorized 4 topics : herbs, prescription, disease, and action. Keywords analysis Ontology is modeled based on 4 topics and their relations, and then represented Topic maps. Next, Article analysis Ontology is consist of title, author, keywords, abstracts and organization Topics from metadata. Keywords and Article analysis Ontology were integrated through Keywords Topic. Korean Medical Article Retrieval System is optimistic in terms on search results supporting semantic navigation in the information service aspects and easier accessibility because all related information are semantically connected with each different DBs.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.9
• /
• pp.736-744
• /
• 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.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.5
• /
• pp.502-510
• /
• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2011.06a
• /
• pp.13-15
• /
• 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.

• IE interfaces
• /
• v.12 no.2
• /
• pp.294-304
• /
• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 1995.11a
• /
• pp.184-192
• /
• 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.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.6
• /
• pp.608-615
• /
• 2008

Recently, research on GNSS signal receiver, aiding system and integrated navigation system approaching to the new satellite navigation system is needed. It it necessary to develop the GNSS simulator not only to understand the new satellite navigation system but also to develop the core technology about the system. In this paper, the simulator of the GPS and Galileo satellite nagivation is developed in IF(intermediate frequency) signal level.

• Journal of Advanced Navigation Technology
• /
• v.14 no.6
• /
• pp.990-995
• /
• 2010

We consider a problem of intelligent Integration Information system for research ship, and propose a design as one effective solution of the problem. The goals of the proposed design and system are as follows: management of engine, management of ship, researcher's work, education, training, manage schedule of the project, and thus to manage the whole life cycle of the research ship project. These goals are basically to facilitate and implement innovation- and enhancement-related activities which intelligent Integration Information system is fundamentally pursuing.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.68 no.1
• /
• pp.189-198
• /
• 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.